def __init__(self, max_actions=600):
self.max_actions = max_actions
self.portNumb = recoverPorts()[0]
self.actions = []
self.score = 0
self.hasfallen = False
# self.LUMSpeed = 0
# self.LLMSpeed = 0
# self.RUMSpeed = 0
# self.RLMSpeed = 0
self.clientID = vrep.simxStart('127.0.0.1', self.portNumb, True, True, 5000, 5)
if self.clientID != -1 :
print ("Connection to the simulator has been established")
self.robotController = robotController(self.clientID)
# LUM,LLM,RUM,RLM,head = recoverRobotParts(self.clientID)
# self.LUM = LUM
# self.LLM = LLM
# self.RUM = RUM
# self.RLM = RLM
# self.head = head
#Set simulation to be Synchonous instead of Asynchronous
vrep.simxSynchronous(self.clientID, True)
#Start simulation if it didn't start
vrep.simxStartSimulation(self.clientID,vrep.simx_opmode_blocking)
self.robotController.resetRobot()
# setVelocity(self.clientID,self.LUM,self.LUMSpeed)
# setVelocity(self.clientID,self.LLM,self.LLMSpeed)
# setVelocity(self.clientID,self.RUM,self.RUMSpeed)
# setVelocity(self.clientID,self.RLM,self.RLMSpeed)
#Esto es necesario porque la primera observación siempre es incorrecta
self.observation_space()
vrep.simxSynchronousTrigger(self.clientID)
def runModel(portNumber, secuenceList):
#Establish connection
clientID = vrep.simxStart('127.0.0.1', portNumber, True, True, 5000, 5)
#Verify connection
if clientID == -1 :
print("Connection to the simluator api could not be established")
print("Make sure the simulator is up and running on port {}".format(portNumber))
else:
evolutionModel = EvolutionModel()
robotcontroller = robotController(clientID)
#Set simulation to be Synchronous instead of Asynchronous
vrep.simxSynchronous(clientID, True)
#Setting Time Step to 50 ms (miliseconds)
dt = 0.05
#Start simulation
vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)
runInfo = []
for secuence in secuenceList:
runtime = 0
observationTrace = []
for instruction in secuence:
robotcontroller.moveRobot(instruction[0])
#This is what makes the simulation Synchronous
initialTime = 0.0
actualTime = initialTime + dt
runtime += dt
#Condition to stop simulation
done = False
vrep.simxSynchronousTrigger(clientID)
n = 1
while (n <= instruction[1] and not done):
n+=1
#Make de simulation run one step (dt determines how many seconds pass by between step and step)
vrep.simxSynchronousTrigger(clientID)
#Advance time in my internal counter
actualTime = actualTime + dt
runtime += dt
observations = robotcontroller.observablePositions()
observationTrace.append({'Observation': observations, 'runtime' : runtime})
done = evolutionModel.isDone(observations)
runInfo.append({'instructions' : secuence, 'observations' : observationTrace, 'Score' : evolutionModel.getScore(observationTrace)})
robotcontroller.resetRobot()
#Stop_Start_Simulation
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
#This sleep is necesary for the simulation to finish stopping before starting again
time.sleep(2)
robotcontroller.resetRobot()
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
robotcontroller.resetRobot()
#Should always end by finishing connetions
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxFinish(clientID)
return runInfo
def main():
#Maing sure no connection is active
vrep.simxFinish(-1)
#Default Port Numeber
#TODO cambiar esto para que se lea de un archivo de configuración
portNumb = 19997
#Establish connection
clientID = vrep.simxStart('127.0.0.1', portNumb, True, True, 5000, 5)
#Verify connection
if clientID == -1 :
print("Connection to the simluator api could not be established")
print("Make sure the simulator is up and running on port 19997")
else:
#Start simulation
#TODO verificar si es más conveniente iniciar la simulación antes o después de recuperar la configuración del robot
vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)
robotcontroller = robotController(clientID)
print("Write 0 to stop simulation or a number between 1 and {} to move the robot: ".format(len(robotcontroller.movements)))
print([(i+1,v['name']) for i,v in enumerate(robotcontroller.movements)])
stillRun = True
snoop = Snoop()
savedSequences = []
while stillRun:
nextAction = input("Write a movement option: ")
try:
nextAction = int(nextAction)
except:
nextAction = -1
while nextAction:
if robotcontroller.isValid(nextAction):
snoop.next_action(nextAction)
robotcontroller.moveRobot(nextAction)
nextAction = input("Write other movement option or 0 ")
nextAction = int(nextAction)
secuence = snoop.end()
# print(secuence)
saveRun = input("Do you want to save this run? y/n ")
if saveRun == "y":
savedSequences.append(secuence)
continueRuning = input("Want to continue traying? y/n ")
if continueRuning == "n":
stillRun = False
else:
#Restart Simulation
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
time.sleep(2)
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
#Finish simulation and connections
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxFinish(clientID)
#Save Secuences into file
sr.recordSecuences(savedSequences, "savedSequences.txt")