pyCreate2.simulation package
Submodules
pyCreate2.simulation.create2_vrep module
pyCreate2.simulation.kuka_lbr4p_vrep module
Module to control the KUKA LBR4+ in V-REP.
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class
pyCreate2.simulation.kuka_lbr4p_vrep.KukaLBR4PlusVrep(client_id)[source]
Bases: object
Class to control the KUKA LBR4+ Manipulator in V-REP.
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disable_painting()[source]
Disable spray painting end-effector.
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enable_painting()[source]
Enable spray painting end-effector.
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go_to(joint, angle)[source]
Go to specified target angle.
| Parameters: |
- joint (int) – number of joint to change (0 to 7)
- angle (float) – radians
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set_color(r, g, b)[source]
Set spray painting color (RGB).
| Parameters: |
- r (float) – red component (0 to 1)
- g (float) – green component (0 to 1)
- b (float) – blue component (0 to 1)
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pyCreate2.simulation.servo module
Module to control a virtual Servo.
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class
pyCreate2.simulation.servo.Servo(client_id)[source]
Bases: object
Class to control a virtual servo in V-REP.
The servo is modeled as joint, using an integrated position controller in V-REP.
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go_to(angle)[source]
Go to specified target angle.
| Parameters: | angle (float) – -90 - 90 degrees. 0 means facing forward. Negative numbers turn to the left. |
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pyCreate2.simulation.sonar module
Module to control a virtual Sonar.
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class
pyCreate2.simulation.sonar.Sonar(client_id)[source]
Bases: object
Class to control a virtual sonar.
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get_distance()[source]
Queries the current distance from the sonar.
We use a proximity sensor in V-REP to model the sonar.
| Returns: | Distance in m. If there was an error, it returns 3.3 m. |
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pyCreate2.simulation.time_helper module
Module to deal with simulation time.
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class
pyCreate2.simulation.time_helper.TimeHelper(client_id)[source]
Bases: object
This class is similar to the default time module of python, however it uses V-REPs simulation time
rather than real time.
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sleep(wait_in_sec)[source]
Wait for the specified number of seconds (simulation time).
The simulation will continue making progress.
| Parameters: | wait_in_sec (float) – time (in seconds) to continue simulation. |
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time()[source]
Query current time. Simulation starts at time 0.
| Returns: | Elapsed simulated seconds. |
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Module contents