Webots

robodyno.interfaces.webots

This module provides Webots interface for robodyno devices.

Examples:

from robodyno.interfaces import Webots

def step_callback(webots):
    print(webots.time())

webots = Webots(step_callback=step_callback, start=False)
webots.start()

while True:
    # do something

    if webots.sleep(1) == -1:
        break

webots.stop()

Webots

Bases: object

Webots interface for robodyno devices.

This class provides Webots interface for robodyno devices. It supports managing the time and running the simulation.

A thread is created to run the simulation. When the simulation is running, the callback function will be called every time step.

Attributes:

Name	Type	Description
robot	Robot	The Webots robot instance.

__init__(time_step=None, step_callback=None, start=True)

Initialize the Webots interface.

Parameters:

Name	Type	Description	Default
time_step	int	The time step of the simulation. If not specified, the default time step of the robot will be used.	None
step_callback	callable	The callback function that will be called every time step. The function should accept one argument, which is the webots interface instance. The function should not block for too long, otherwise the simulation will be delayed.	None
start	bool	Whether to start the simulation automatically. Defaults to True.	True

time_step: int property

Get the time step of the simulation.

Returns:

Name	Type	Description
int	int	The time step of the simulation.

step_lock: Lock property

Get the step lock of the simulation.

Returns:

Name	Type	Description
Lock	Lock	The step lock of the simulation.

start()

Start the simulation.

stop()

Stop the simulation.

time()

Get the current time of the simulation.

Returns:

Name	Type	Description
float	float	The current time of the simulation.

sleep(seconds)

Sleep for a specified amount of time.

Parameters:

Name	Type	Description	Default
seconds	float	The amount of time to sleep.	required

Returns:

Type	Description
int	0 if the simulation is running, -1 if the simulation is stopped.

register(device)

Register a device to the simulation.

Parameters:

Name	Type	Description	Default
device	WebotsDevice	The device to register.	required

deregister(device)

Deregister a device from the simulation.

Parameters:

Name	Type	Description	Default
device	WebotsDevice	The device to deregister.	required