本文整理汇总了Python中vrep.simxGetObjectHandle函数的典型用法代码示例。如果您正苦于以下问题:Python simxGetObjectHandle函数的具体用法?Python simxGetObjectHandle怎么用?Python simxGetObjectHandle使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了simxGetObjectHandle函数的15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: __init__
def __init__(self,clientID):
self.desiredSteeringAngle=0
self.desiredWheelRotSpeed=0
self.steeringAngleDx=2*math.pi/180
self.wheelRotSpeedDx=1
self.d=0.755
self.l=2.5772
self.clientID=clientID
self.absSpeed={-1:-3,0:0,1:3}
self.absAngle={-1:-8*math.pi/180,0:0,1:8*math.pi/180}
errorCodeML,ml = vrep.simxGetObjectHandle(clientID,'nakedCar_motorLeft',vrep.simx_opmode_oneshot_wait)
errorCodeMR,mr = vrep.simxGetObjectHandle(clientID,'nakedCar_motorRight',vrep.simx_opmode_oneshot_wait)
errorCodeSL,sl = vrep.simxGetObjectHandle(clientID,'nakedCar_steeringLeft',vrep.simx_opmode_oneshot_wait)
errorCodeSR,sr = vrep.simxGetObjectHandle(clientID,'nakedCar_steeringRight',vrep.simx_opmode_oneshot_wait)
self.ml = ml
self.mr = mr
self.sl = sl
self.sr = sr
示例2: __init__
def __init__(self, clientID):
self.clientID = clientID
err,leftMotorHandle=vrep.simxGetObjectHandle(clientID,"remoteApiControlledBubbleRobLeftMotor",vrep.simx_opmode_oneshot_wait)
if err==vrep.simx_error_noerror:
self.leftMotorHandle = leftMotorHandle
print('Get handle for left motor: {}'.format(leftMotorHandle))
else:
print('Error by getting handle for left motor: {}'.format(err))
err,rightMotorHandle=vrep.simxGetObjectHandle(clientID,"remoteApiControlledBubbleRobRightMotor",vrep.simx_opmode_oneshot_wait)
if err==vrep.simx_error_noerror:
self.rightMotorHandle = rightMotorHandle
print('Get handle for right motor: {}'.format(rightMotorHandle))
else:
print('Error by getting handle for right motor: {}'.format(err))
err,visionSensorHandle=vrep.simxGetObjectHandle(clientID,"Vision_sensor",vrep.simx_opmode_oneshot_wait)
if err==vrep.simx_error_noerror:
self.visionSensorHandle = visionSensorHandle
print('Get handle for vision sensor: {}'.format(visionSensorHandle))
else:
print('Error by getting handle for vision sensor: {}'.format(err))
err,bubbleRobHandle=vrep.simxGetObjectHandle(clientID,"remoteApiControlledBubbleRob",vrep.simx_opmode_oneshot_wait) #getHandle
if err==vrep.simx_error_noerror:
self.bubbleRobHandle = bubbleRobHandle
print('Get handle for bubbleRob: {}'.format(bubbleRobHandle))
else:
print('Error by getting handle for bubbleRob: {}'.format(err))
err,self.bubbleRobStartPosition = vrep.simxGetObjectPosition(clientID, bubbleRobHandle, -1, vrep.simx_opmode_oneshot_wait) #getStartPosition
示例3: __init__
def __init__(self, **kwargs):
self.id = str(kwargs.get("id", ""))
self.generation = kwargs.get("generation", 0)
self.model = kwargs.get("model")
self.DNA = kwargs.get("DNA")
self.opmode = kwargs.get("opmode", vrep.simx_opmode_oneshot_wait)
print "bot number ", self.id, " args : ", self.DNA
self.name = "2W1A"
if self.id != "0":
self.name += "#" + str(self.id)
else:
self.id = ""
print "Bot [" + self.name + "] created"
print "Internal caracteristique : A DEFINIR ASAP!"
self.clientID = kwargs.get("clientID")
vrep.simxCopyPasteObjects(self.clientID, self.model, self.opmode)
ret1, self.wristHandle = vrep.simxGetObjectHandle(self.clientID, "WristMotor" + self.id, kwargs.get("opmode"))
ret2, self.elbowHandle = vrep.simxGetObjectHandle(self.clientID, "ElbowMotor" + self.id, kwargs.get("opmode"))
ret3, self.shoulderHandle = vrep.simxGetObjectHandle(
self.clientID, "ShoulderMotor" + self.id, kwargs.get("opmode")
)
ret4, self.robotHandle = vrep.simxGetObjectHandle(self.clientID, self.id, kwargs.get("opmode"))
print ret1, ret2, ret3
if ret1 != 0 or ret2 != 0 or ret3 != 0:
sys.exit("handlers problem")
示例4: __init__
def __init__(self, clientID, name):
self.clientID = clientID
self.name = name
self.noDetectionDist = 0.5
self.maxDetectionDist = 0.2
self.detect = [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
self.braitenbergL = [-0.2,-0.4,-0.6,-0.8,-1,-1.2,-1.4,-1.6, 0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
self.braitenbergR = [-1.6,-1.4,-1.2,-1,-0.8,-0.6,-0.4,-0.2, 0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
self.v0 = 2
errorCode, self.left_motor_handle = vrep.simxGetObjectHandle(clientID,
'Pioneer_p3dx_leftMotor'+name,
vrep.simx_opmode_oneshot_wait)
errorCode, self.right_motor_handle = vrep.simxGetObjectHandle(clientID,
'Pioneer_p3dx_rightMotor'+name,
vrep.simx_opmode_oneshot_wait)
self.ultra_sensors = []
for i in range(1,16):
errorCode, sensor_handle = vrep.simxGetObjectHandle(clientID,
'Pioneer_p3dx_ultrasonicSensor'+str(i)+name,
vrep.simx_opmode_oneshot_wait)
if not errorCode:
self.ultra_sensors.append(sensor_handle)
returnCode, detectionState, \
detectedPoint, detectedObjectHandle, \
detectedSurfaceNormalVector = \
vrep.simxReadProximitySensor(clientID,
self.ultra_sensors[i-1],
vrep.simx_opmode_streaming)
else:
print 'Failed to connect to ultrasonic sensor '+str(i)
示例5: restart
def restart(self,earlyStop = False):
if (self.cid != None):
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
time.sleep(1)
self.connect()
time.sleep(1)
vrep.simxLoadScene(self.cid, '/home/elias/[email protected]/_Winter2015/CSC494/Scenes/Base_Quad.ttt', 0, self.mode())
if earlyStop:
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
return
vrep.simxStartSimulation(self.cid, self.mode())
self.runtime = 0
err, self.copter = vrep.simxGetObjectHandle(self.cid, "Quadricopter_base",
vrep.simx_opmode_oneshot_wait)
err, self.target = vrep.simxGetObjectHandle(self.cid, "Quadricopter_target",
vrep.simx_opmode_oneshot_wait)
err, self.front_camera = vrep.simxGetObjectHandle(self.cid, 'Quadricopter_frontCamera', vrep.simx_opmode_oneshot)
err, lin, ang = vrep.simxGetObjectVelocity(self.cid, self.copter, vrep.simx_opmode_streaming)
self.getTargetStart()
for i in range(4):
self.propellerScripts[i] = vrep.simxGetObjectHandle(self.cid,
'Quadricopter_propeller_respondable' + str(i) + str(1),
self.mode())
示例6: __init__
def __init__(self):
self.ip = '127.0.0.1'
self.port = 19997
self.scene = './simu.ttt'
self.gain = 2
self.initial_position = [3,3,to_rad(45)]
self.r = 0.096 # wheel radius
self.R = 0.267 # demi-distance entre les r
print('New pioneer simulation started')
vrep.simxFinish(-1)
self.client_id = vrep.simxStart(self.ip, self.port, True, True, 5000, 5)
if self.client_id!=-1:
print ('Connected to remote API server on %s:%s' % (self.ip, self.port))
res = vrep.simxLoadScene(self.client_id, self.scene, 1, vrep.simx_opmode_oneshot_wait)
res, self.pioneer = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx', vrep.simx_opmode_oneshot_wait)
res, self.left_motor = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx_leftMotor', vrep.simx_opmode_oneshot_wait)
res, self.right_motor = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx_rightMotor', vrep.simx_opmode_oneshot_wait)
self.set_position(self.initial_position)
vrep.simxStartSimulation(self.client_id, vrep.simx_opmode_oneshot_wait)
else:
print('Unable to connect to %s:%s' % (self.ip, self.port))
示例7: __init__
def __init__( self, sim_dt=0.01, max_target_distance=3, noise=False,
noise_std=[0,0,0,0,0,0],
target_func=None,
):
super(Quadcopter, self).__init__(sim_dt)
err, self.copter = vrep.simxGetObjectHandle(self.cid, "Quadricopter_base",
vrep.simx_opmode_oneshot_wait )
err, self.target = vrep.simxGetObjectHandle(self.cid, "Quadricopter_target",
vrep.simx_opmode_oneshot_wait )
# Reset the motor commands to zero
packedData=vrep.simxPackFloats([0,0,0,0])
raw_bytes = (ctypes.c_ubyte * len(packedData)).from_buffer_copy(packedData)
err = vrep.simxSetStringSignal(self.cid, "rotorTargetVelocities",
raw_bytes,
vrep_mode)
self.pos = [0,0,0]
self.pos_err = [0,0,0]
self.t_pos = [0,0,0]
self.lin = [0,0,0]
self.ori = [0,0,0]
self.ori_err = [0,0,0]
self.t_ori = [0,0,0]
self.ang = [0,0,0]
self.vert_prox_dist = 0
self.left_prox_dist = 0
self.right_prox_dist = 0
# Distance reading recorded when nothing is in range
self.max_vert_dist = 1.5
self.max_left_dist = 1.0
self.max_right_dist = 1.0
# Maximum target distance error that can be returned
self.max_target_distance = max_target_distance
# If noise is being modelled
self.noise = noise
# Standard Deviation of the noise for the 4 state variables
self.noise_std = noise_std
# Overwrite the get_target method if the target is to be controlled by a
# function instead of by V-REP
if target_func is not None:
self.step = 0
self.target_func = target_func
def get_target():
self.t_pos, self.t_ori = self.target_func( self.step )
self.step += 1
self.get_target = get_target
示例8: getSensorHandles_dr20_
def getSensorHandles_dr20_(clientID):
err_h_infra6, infra6 = vrep.simxGetObjectHandle(clientID,'dr20_infraredSensor6_', vrep.simx_opmode_oneshot_wait)
err_h_infra2, infra2 = vrep.simxGetObjectHandle(clientID,'dr20_infraredSensor2_', vrep.simx_opmode_oneshot_wait)
err_h_infra5, infra5 = vrep.simxGetObjectHandle(clientID,'dr20_infraredSensor5_', vrep.simx_opmode_oneshot_wait)
err_h_infra1, infra1 = vrep.simxGetObjectHandle(clientID,'dr20_infraredSensor1_', vrep.simx_opmode_oneshot_wait)
err_h_sonic, sonic = vrep.simxGetObjectHandle(clientID,'dr20_ultrasonicSensor_', vrep.simx_opmode_oneshot_wait)
return (err_h_infra6, err_h_infra2, err_h_infra5, err_h_infra1, err_h_sonic,
infra6, infra2, infra5, infra1, sonic)
示例9: __init__
def __init__(self, simulatorModel=None):
self.robotOrientationFirstTime = True
self.getDistanceToGoalFirstTime = True
self.getUpDistanceFirstTime = True
self.getObjectPositionFirstTime = True
self.sysConf = LoadSystemConfiguration()
#this data structure is like a cache for the joint handles
self.jointHandleMapping = {}
robotConf = LoadRobotConfiguration()
self.model = simulatorModel
self.LucyJoints = robotConf.getJointsName()
for joint in self.LucyJoints:
self.jointHandleMapping[joint]=0
self.clientId = self.connectVREP()
RETRY_ATTEMPTS = 50
if simulatorModel:
for i in range(RETRY_ATTEMPTS):
#TODO try to reutilize the same scene for the sake of performance
error = self.loadscn(self.clientId, simulatorModel)
if not error:
break
print "retrying connection to vrep"
if error:
raise VrepException("error loading Vrep robot model", -1)
if int(self.sysConf.getProperty("synchronous mode?"))==1:
self.synchronous = True
vrep.simxSynchronousTrigger(self.clientId)
else:
self.synchronous = False
self.speedmodifier = int(self.sysConf.getProperty("speedmodifier"))
#setting the simulation time step
self.simulationTimeStepDT = float(self.sysConf.getProperty("simulation time step"))
'''#testing printing in vrep
error, consoleHandler = vrep.simxAuxiliaryConsoleOpen(self.clientId, "lucy debugging", 8, 22, None, None, None, None, vrep.simx_opmode_oneshot_wait)
print "console handler: ", consoleHandler
vrep.simxAuxiliaryConsoleShow(self.clientId, consoleHandler, 1, vrep.simx_opmode_oneshot_wait)
error = vrep.simxAuxiliaryConsolePrint(self.clientId, consoleHandler, "Hello World", vrep.simx_opmode_oneshot_wait)'''
error, self.upDistanceHandle = vrep.simxGetDistanceHandle(self.clientId, "upDistance#", vrep.simx_opmode_blocking)
error, self.distLFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceLFootGoal#", vrep.simx_opmode_blocking)
error, self.distRFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceRFootGoal#", vrep.simx_opmode_blocking)
error, self.bioloidHandle = vrep.simxGetObjectHandle(self.clientId,"Bioloid", vrep.simx_opmode_oneshot_wait)
error, self.cuboidHandle = vrep.simxGetObjectHandle(self.clientId,"Cuboid", vrep.simx_opmode_oneshot_wait)
error, self.armHandler = vrep.simxGetObjectHandle(self.clientId, "Pivot", vrep.simx_opmode_oneshot_wait)
self.populateJointHandleCache(self.clientId)
self.isRobotUpFirstCall = True
self.getDistanceToSceneGoal() #to fix the first invocation
self.getUpDistance()
self.isRobotUp(self.clientId)
self.armPositionXAxis = -9.0000e-02
示例10: config_handles
def config_handles(self):
# Object-handle-configuration
errorFlag, self.Quadbase = vrep.simxGetObjectHandle(self.clientID,
'Quadricopter_base',
vrep.simx_opmode_oneshot_wait)
errorFlag, self.Quadobj = vrep.simxGetObjectHandle(self.clientID,
'Quadricopter',
vrep.simx_opmode_oneshot_wait)
self.getState(initial=True)
time.sleep(0.05)
示例11: start
def start(self):
print ('Program started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID = vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if self.clientID != -1:
print ('Connected to remote API server')
self.LWMotor_hdl = vrep.simxGetObjectHandle(self.clientID,'LeftWheel_Motor', vrep.simx_opmode_oneshot_wait) # LeftWheel Motor handle
self.RWMotor_hdl = vrep .simxGetObjectHandle(self.clientID,'RightWheel_Motor', vrep.simx_opmode_oneshot_wait) # RightWheel Motor handle
self.Robot_hdl = vrep.simxGetObjectHandle(self.clientID, 'Cubot', vrep.simx_opmode_oneshot_wait)
print ('Handle acquired !!')
else:
print ('Error : connection to vrep failed')
示例12: __init__
def __init__(self, address, port):
print ('Program started')
vrep.simxFinish(-1)
self.clientID=vrep.simxStart(address,port,True,True,5000,5)
if self.clientID!=-1:
print "Conexion establecida, todo en orden"
else:
print "Conexion con el simulador fallida, reinicia el simulador"
error,self.motorFL=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx_rightMotor',vrep.simx_opmode_oneshot_wait)
error,self.motorFR=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx_leftMotor',vrep.simx_opmode_oneshot_wait)
error,self.camera=vrep.simxGetObjectHandle(self.clientID,'Vision_sensor',vrep.simx_opmode_oneshot_wait)
error,self.robot=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx',vrep.simx_opmode_oneshot_wait)
示例13: getDistanceBetwObjects
def getDistanceBetwObjects(self, objectNameA, objectNameB):
"""Get the distance between two named objects in V-REP.
Raise exception if either does not exist"""
eCode, handleA = vrep.simxGetObjectHandle(self._VREP_clientId, objectNameA, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not get handle of object", objectNameA)
eCode, poseA = vrep.simxGetObjectPosition(self._VREP_clientId, handleA, -1, vrep.simx_opmode_oneshot_wait)
eCode, handleB = vrep.simxGetObjectHandle(self._VREP_clientId, objectNameB, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not get handle of object", objectNameB)
eCode, poseB = vrep.simxGetObjectPosition(self._VREP_clientId, handleB, -1, vrep.simx_opmode_oneshot_wait)
return distance(poseA,poseB)
示例14: fetchKinect
def fetchKinect(depthSTR,rgbSTR):
errorCodeKinectRGB,kinectRGB=vrep.simxGetObjectHandle(clientID,rgbSTR,vrep.simx_opmode_oneshot_wait)
errorCodeKinectDepth,kinectDepth=vrep.simxGetObjectHandle(clientID,depthSTR,vrep.simx_opmode_oneshot_wait)
errorHere,resolution,image=vrep.simxGetVisionSensorImage(clientID,kinectRGB,0,vrep.simx_opmode_oneshot_wait)
img,imgArr=Raftaar.ProcessImage(image,resolution)
rgbArr=np.array(imgArr)
errorHere,resol,depth=vrep.simxGetVisionSensorDepthBuffer(clientID,kinectDepth,vrep.simx_opmode_oneshot_wait)
depthArr=np.array(depth)
return depthArr,rgbArr
示例15: setJointPosition
def setJointPosition(clientID, joint, angle):
if (jointHandleMapping[joint] > 0):
jhandle=jointHandleMapping[joint]
else:
error, jhandle=vrep.simxGetObjectHandle(clientID,joint,vrep.simx_opmode_oneshot_wait)
jointHandleMapping[joint]=jhandle
vrep.simxSetJointPosition(clientID,jhandle,angle,vrep.simx_opmode_oneshot_wait)