本文整理汇总了Python中Simulator.Simulator.moveHelperArm方法的典型用法代码示例。如果您正苦于以下问题：Python Simulator.moveHelperArm方法的具体用法？Python Simulator.moveHelperArm怎么用？Python Simulator.moveHelperArm使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Simulator.Simulator的用法示例。
在下文中一共展示了Simulator.moveHelperArm方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: SimulatedLucy
# 需要导入模块: from Simulator import Simulator [as 别名]
# 或者: from Simulator.Simulator import moveHelperArm [as 别名]
#.........这里部分代码省略.........
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angleAX.toVrep()) or error
else:
###self.moveHelperArm()
error = self.sim.resumePauseSim(self.clientID) or error
error = self.sim.setJointPosition(self.clientID, joint, angleAX.toVrep()) or error
jointExecutedCounter += 1
self.updateLucyPosition()
self.poseExecuted = self.poseExecuted + self.getPosesExecutedByStepQty()
#if error:
# raise VrepException("error excecuting a pose", error)
def executeRawPose(self, pose):
error = False
#Above's N joints will be received and set on the V-REP side at the same time
jointsQty = len(self.RobotImplementedJoints)
jointExecutedCounter=0
error = self.sim.pauseSim(self.clientID) or error
for joint in self.RobotImplementedJoints:
angle = pose.getValue(joint)
#print "setting joint: ", joint, " to value: ", angle
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angle) or error
else:
error = self.sim.resumePauseSim(self.clientID) or error
error = self.sim.setJointPosition(self.clientID, joint, angle) or error
jointExecutedCounter += 1
self.updateLucyPosition()
print "distance traveled: ", self.distance
self.poseExecuted = self.poseExecuted + self.getPosesExecutedByStepQty()
def getFrame(self):
error = False
pose = {}
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
if (self.jointHandleCachePopulated == False):
self.sim.populateJointHandleCache(self.clientID)
self.jointHandleCachePopulated = True
error = self.sim.pauseSim(self.clientID) or error
for joint in self.joints:
if joint not in dontSupportedJoints: #actual model of vrep bioloid don't support this joints
errorGetJoint, value = self.sim.getJointPositionNonBlock(self.clientID, joint, self.firstCallGetFrame)
error = error or errorGetJoint
pose[joint] = 150 - value * 60
self.firstCallGetFrame = False
error = self.sim.resumePauseSim(self.clientID) or error
#if error:
# raise VrepException("error geting a frame", error)
return error, pose
def angle(self,v):
if v.imag >=0:
resAngle = angle(v, True) #angle second argument is for operate with degrees instead of radians
else:
resAngle = 180+angle(-v, True) #angle second argument is for operate with degrees instead of radians
return resAngle
def updateLucyPosition(self):
if self.stop == False:
self.time = time.time() - self.startTime
error, distToGoal = self.sim.getDistanceToSceneGoal()
if not error:
distTravelToGoal = 1.0 - distToGoal
if distTravelToGoal < 0:
self.distance = 0
else:
self.distance = distTravelToGoal
else:
print "*****************************************ERROR CALCULATING DIST TO GOAL IN Lucy:updateLucyPosition"
def stopLucy(self):
self.stop = True
self.updateLucyPosition()
self.sim.finishSimulation(self.clientID)
def isLucyUp(self):
error, up = self.sim.isRobotUp(self.clientID)
if error:
#raise VrepException("error consulting if lucy is up", error)
return False
return up
def moveHelperArm(self):
error = False
armDistanceStep = self.distance - self.distanceBeforMoveArmLastCall
if armDistanceStep > 0:
self.armDistance = self.armDistance + armDistanceStep
#error = self.sim.pauseSim(self.clientID) or error
error = self.sim.moveHelperArm(armDistanceStep) or error
#error = self.sim.resumePauseSim(self.clientID) or error
self.distanceBeforMoveArmLastCall = self.distance
return error