Pour commencer votre programme python devra contenir les lignes de code ci-dessous et le logiciel V-REP devra être lancé.
In [1]:
import time
from poppy.creatures import PoppyTorso
poppy = PoppyTorso(simulator='vrep')
In [122]:
io = poppy._controllers[0].io
name = 'cube'
position = [0.2, 0, 1] # X, Y, Z
sizes = [0.15, 0.15, 0.15] # in meters
mass = 0.1 # in kg
io.add_cube(name, position, sizes, mass)
In [58]:
#ouvrir
poppy.l_arm_z.goal_position = 20
poppy.r_arm_z.goal_position = -20
In [121]:
#fermer
poppy.l_arm_z.goal_position = -20
poppy.r_arm_z.goal_position = 20
poppy.l_shoulder_y.goal_position = -40
poppy.r_shoulder_y.goal_position = -40
In [123]:
#lever
poppy.l_shoulder_y.goto_position(-180,0.1)
poppy.r_shoulder_y.goto_position(-180,0.1)
In [90]:
#jeter
poppy.l_shoulder_y.goal_position = -40
poppy.r_shoulder_y.goal_position = -40
poppy.l_arm_z.goal_position = 20
poppy.r_arm_z.goal_position = -20
In [ ]:
Solution possible:
reprise de volet catapulte attrape puis jéte
Aide ajusté l'objet, forme, taille, poid, position...;
In [120]:
poppy.reset_simulation()
In [ ]:
import pypot
poppy.stop_simulation()
pypot.vrep.close_all_connections()
from poppy.creatures import PoppyTorso
poppy=PoppyTorso(simulator='vrep')
In [ ]:
import pypot
poppy.stop_simulation()
pypot.vrep.close_all_connections()