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))
def readDummyPath(self):
fp = open(self.dummyPath, 'r')
lines = fp.readlines() # 1行毎にファイル終端まで全て読む(改行文字も含まれる)
fp.close()
for line in lines:
buf = line.split(",")
for x in buf:
params = x.split(":")
if len(params) >= 2:
name = params[0]
try:
portNb = 19998 # int(params[1])
self.dummyID = vrep.simxStart("127.0.0.1", portNb, True, True, 2000, 5)
if self.dummyID == -1:
print >> sys.stderr, "Fatal: No client ID while creating Dummy Communicator."
else:
self.setClientID(self.dummyID)
except ValueError:
print >> sys.stderr, "Fatal: non integer value while creating Dummy Communicator."
time.sleep(1)
exit()
else:
name = params[0]
returnCode, handle = vrep.simxGetObjectHandle(self.dummyID, name, vrep.simx_opmode_oneshot_wait)
if returnCode != vrep.simx_return_ok:
print >> sys.stderr, "Fatal: Error obtaining a handle for " + name + "!"
else:
print name, handle
item = VRepItem(name, self.dummyID, handle)
self.addItem(item)
def connectVREP(self, ipAddr=LoadSystemConfiguration.getProperty(LoadSystemConfiguration(),"Vrep IP"), port=int(LoadSystemConfiguration.getProperty(LoadSystemConfiguration(),"Vrep port"))):
self.getObjectPositionFirstTime = True
#vrep.simxFinish(-1) # just in case, close all opened connections #TODO this could be a problem when the connection pool is implemented
time1 = time()
clientID = vrep.simxStart(ipAddr,port,True,True,5000,5)
time2 = time()
print "LOGGING time for connecting VREP in senconds: ", time2 - time1
return clientID
def vrepConnect(clientID, port):
clientID=vrep.simxStart('127.0.0.1',port,True,True,1000,5)
if clientID!=-1:
print("Open Connection on port:"+str(port)+' with clientID: '+str(clientID))
else:
print("Failed connecting through port:"+str(port))
vrep.simxFinish(clientID)
return clientID
def __init__(self, port):
super(VREP, self).__init__()
# Add simExtRemoteApiStart(<port>) to an init script of VREP
# subscribe our client
self.id = vrep.simxStart('127.0.0.1', port, True, False, 5000, 5)
self._handle = {}
self._p = []
self._v = []
self._s = []
def __init__(self, **kwargs):
vrep.simxFinish(-1)
print "Start"
print ('Connected to remote API server')
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
self.opmode = vrep.simx_opmode_oneshot_wait
self.model = vrep.simxGetObjectHandle(self.clientID, '2W1A', self.opmode)
self.nGeneration = kwargs.get("nGeneration", 1)
if self.clientID == -1:
sys.exit('Failed connecting to remote API server')
def _init_client_id(self):
vrep.simxFinish(-1)
self.client_id = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if self.client_id != -1:
print 'Connected to remote API server'
else:
print 'Connection not successful'
sys.exit('Could not connect')
def connect(self):
global SYNC
self.cid = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
if self.cid != -1:
print ('Connected to V-REP remote API serv'
'\er, client id: %s' % self.cid)
vrep.simxStartSimulation(self.cid, vrep.simx_opmode_oneshot)
if SYNC:
vrep.simxSynchronous(self.cid, True)
else:
print ('Failed connecting to V-REP remote API server')
exit()
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)
def start_simulator():
print 'Program started'
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19999, True, False, 5000, 5)
if clientID != -1:
print 'Connected to remote API server'
else:
print 'Failed connecting to remote API server'
sys.exit('Program Ended')
return clientID
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')
def env_init(self):
print ('VREP Environmental 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.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
def run360():
print "connecting to vrep with address", IPADDRESS, "on port", PORT
clientID = vrep.simxStart(IPADDRESS, PORT, True, True, 5000, 5)
print "hello vrep! ", clientID
if clientID == -1:
print "failed to connect to vrep server"
return
# get the motor joint handle
error,jointHandle = vrep.simxGetObjectHandle(clientID, "plantStandMotor", vrep.simx_opmode_oneshot_wait)
print "starting the motor..."
# set the velocity of the joint
vrep.simxSetJointTargetVelocity(clientID, jointHandle, 1.0, vrep.simx_opmode_oneshot_wait);
print "spinning 360 degrees..."
# set up to stream joint positions
vrep.simxGetJointPosition(clientID, jointHandle, vrep.simx_opmode_streaming);
passed90Degrees = False
# The control loop:
while vrep.simxGetConnectionId(clientID) != -1 : # while we are connected to the server..
(error,position) = vrep.simxGetJointPosition(
clientID,
jointHandle,
vrep.simx_opmode_buffer
)
# Fetch the newest joint value from the inbox (func. returns immediately (non-blocking)):
if error==vrep.simx_error_noerror :
# here we have the newest joint position in variable jointPosition!
# break when we've done a 360
if passed90Degrees and position >= 0 and position < math.pi/2.0:
break
elif not passed90Degrees and position > math.pi/2.0:
passed90Degrees = True
print "stoppping..."
vrep.simxSetJointTargetVelocity(clientID, jointHandle, 0.0, vrep.simx_opmode_oneshot_wait);
if clientID != -1:
vrep.simxFinish(clientID)
print "done!"
def VREPConnect(self):
vrep.simxFinish(-1)
"Connect to Simulation"
self.simulID = vrep.simxStart(self.robot_host,self.simulation_port,True,True, 5000,5)
eCode = vrep.simxSynchronous(self.simulID, True)
if eCode != 0:
print "Could not get V-REP to synchronize operation with me"
if not self.simulID == -1:
eCode = vrep.simxStartSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
print "my SimulID is ", self.simulID
else:
sys.exit("Failed to connect to VREP simulation. Bailing out")
def Initialize():
# just in case, close all opened connections
vrep.simxFinish(-1)
# connect to local host port 19999
clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5)
if clientID!=-1: #check if client connection successful
print ('Connected to remote API server')
else:
print ('Connection not successful')
sys.exit('Could not connect')
return clientID
def __init__(self, sim_dt=0.05, nengo_dt=0.001, sync=True):
vrep.simxFinish(-1) # just in case, close all opened connections
self.cid = vrep.simxStart('127.0.0.1',19997,True,True,5000,5)
self.sync = sync
if self.cid != -1:
print ('Connected to V-REP remote API server, client id: %s' % self.cid)
vrep.simxStartSimulation( self.cid, vrep.simx_opmode_oneshot )
if self.sync:
vrep.simxSynchronous( self.cid, True )
else:
print ('Failed connecting to V-REP remote API server')
exit(1)
self.count = 0
self.sim_dt = sim_dt
self.nengo_dt = nengo_dt
def connectToVREP(self, VREP_World=None):
"Connect to VREP and load the correct world if needed"
"FIXME: SHOULD LAUNCH VREP IF NOT RUNNING"
VREP_exec = 'vrep'
if self.VREPSimulation == None:
self.VREPSimulation = VREP_World
'1. check that V-Rep is running and see whether we are already connected to it. Otherwise connect'
if VREP_exec not in check_output(["ps","-f", "--no-headers", "ww", "-C", "vrep"]):
raise Exception(("V-REP is not running! Please start V-REP with scene: %s" % self.VREPSimulation))
else:
"Check if we are connected with the passed clientId already"
if self._VREP_clientId is not None:
print "ClientId = " ,self._VREP_clientId
connId = vrep.simxGetConnectionId(self._VREP_clientId)
print "My connId is " , connId
if connId == -1: # we are not: set client Id to none and re-connect
print "Disconnecting all existing connections to V-REP"
vrep.simxFinish(-1)
self._VREP_clientId = None
while self._VREP_clientId is None:
self._VREP_clientId = vrep.simxStart(self._host, self._kheperaPort,True,True, 5000,5)
if not self._VREP_clientId == -1:
eCode = vrep.simxSynchronous(self._VREP_clientId, True)
if eCode != 0:
raise Exception("Failed to connect to VREP simulation. Bailing out")
# print " we are connected with clientId ", self._VREP_clientId
"2. Check the correct world is running"
if self.VREPSimulation is not None:
VREP_Scene = split(self.VREPSimulation)[1]
if VREP_Scene not in check_output(["ps","-f", "--no-headers", "ww", "-C", "vrep"]):
eCode = vrep.simxLoadScene(self._VREP_clientId, self.VREPSimulation, 0, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception(("Could not load into V-REP the world", self.VREPSimulation))
"3. Make sure VREP has bees set to the correct directory for saving data"
self.setDataDir(self.dataDir)
'4. Start simulation'
eCode = vrep.simxStartSimulation(self._VREP_clientId, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("VREP simulation cannot get started")
else:
print "V-REP simulation is running with clientId: ", self._VREP_clientId
return self._VREP_clientId
def __init__(self, ip, port):
"""Initializes connectivity to V-REP environment, initializes environmental variables.
"""
vrep.simxFinish(-1)
self.clientID = vrep.simxStart(ip, port, True, True, 5000, 5)
if self.clientID != -1:
print('Successfully connected to V-REP')
else:
raise RuntimeError('Could not connect to V-REP')
# Some artificial delays to let V-REP stabilize after an action
self.sleep_sec = config.SLEEP_VAL
self.sleep_sec_min = config.SLEEP_VAL_MIN
# id of the Robot Arm in V-REP environment
self.main_object = 'uarm'
# Initial state of the Gripper
self.gripper_enabled = False
# Get hands to various objects in the scene
err, self.cylinder_handle = vrep.simxGetObjectHandle(self.clientID, 'uarm_pickupCylinder2',
vrep.simx_opmode_blocking)
if err != vrep.simx_return_ok:
raise RuntimeError("Could not get handle to the cylinder object. Halting program.")
err, self.bin_handle = vrep.simxGetObjectHandle(self.clientID, 'uarm_bin',
vrep.simx_opmode_blocking)
if err != vrep.simx_return_ok:
raise RuntimeError("Could not get handle to the Bin object. Halting program.")
err, self.gripper_handle = vrep.simxGetObjectHandle(self.clientID, 'uarmGripper_motor1Method2',
vrep.simx_opmode_blocking)
if err != vrep.simx_return_ok:
raise RuntimeError("Could not get handle to the Gripper object. Halting program.")
# Distance between cylinder and bin when former is inside later
# This was measured after putting the cylinder in the bin
self.cylinder_bin_distance = config.CYLINDER_BIN_DISTANCE
# Various values, to be set in the start_sim() function, because their values can be obtained
# only after the simulation starts
self.cylinder_height = None
self.cylinder_z_locus = None
self.bin_position = None
self.objects = None
self.object_positions = None
def __init__(self, n_robots, base_name):
self.name = "line follower tester"
self.n_robots = n_robots
self.base_name = base_name
self.robot_names = [self.base_name]
for i in range(self.n_robots-1):
self.robot_names.append(self.base_name+'#'+str(i))
# Establish connection to V-REP
vrep.simxFinish(-1) # just in case, close all opened connections
# Connect to the simulation using V-REP's remote API (configured in V-REP, not scene specific)
# http://www.coppeliarobotics.com/helpFiles/en/remoteApiServerSide.htm
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
# Use port 19999 and add simExtRemoteApiStart(19999) to some child-script in your scene for scene specific API
# (requires the simulation to be running)
if self.clientID != -1:
print ('Connected to remote API server')
else:
print ('Failed connecting to remote API server')
sys.exit('Could not connect')
# Reset running simulation
vrep.simxStopSimulation(self.clientID, vrep.simx_opmode_oneshot)
time.sleep(0.2)
# Get initial robots' positions
self.robot_handles = []
self.robot_pos0 = []
for rbt_name in self.robot_names:
res, rbt_tmp = vrep.simxGetObjectHandle(self.clientID, rbt_name, vrep.simx_opmode_oneshot_wait)
self.robot_handles.append(rbt_tmp)
# Initialize data stream
vrep.simxGetObjectPosition(self.clientID, self.robot_handles[-1], -1, vrep.simx_opmode_streaming)
vrep.simxGetFloatSignal(self.clientID, rbt_name+'_1', vrep.simx_opmode_streaming)
vrep.simxGetFloatSignal(self.clientID, rbt_name+'_2', vrep.simx_opmode_streaming)
vrep.simxGetFloatSignal(self.clientID, rbt_name+'_3', vrep.simx_opmode_streaming)
time.sleep(0.2)
for rbt in self.robot_handles:
res, pos = vrep.simxGetObjectPosition(self.clientID, rbt, -1, vrep.simx_opmode_buffer)
self.robot_pos0.append(pos)
def initialize_vrep_client(self):
#Initialisation for Python to connect to VREP
print 'Python program started'
count = 0
num_tries = 10
while count < num_tries:
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) #Timeout=5000ms, Threadcycle=5ms
if self.clientID!=-1:
print 'Connected to V-REP'
break
else:
"Trying again in a few moments..."
time.sleep(3)
count += 1
if count >= num_tries:
print 'Failed connecting to V-REP'
vrep.simxFinish(self.clientID)
def reset_vrep():
print 'Start to connect vrep'
# Close eventual old connections
vrep.simxFinish(-1)
# Connect to V-REP remote server
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
opmode = vrep.simx_opmode_oneshot_wait
# Try to retrieve motors and robot handlers
# http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm#simxGetObjectHandle
ret_l, LMotorHandle = vrep.simxGetObjectHandle(clientID, "Pioneer_p3dx_leftMotor", opmode)
ret_r, RMotorHandle = vrep.simxGetObjectHandle(clientID, "Pioneer_p3dx_rightMotor", opmode)
ret_a, RobotHandle = vrep.simxGetObjectHandle(clientID, "Pioneer_p3dx", opmode)
vrep.simxSetJointTargetVelocity(clientID, LMotorHandle, 0, vrep.simx_opmode_blocking)
vrep.simxSetJointTargetVelocity(clientID, RMotorHandle, 0, vrep.simx_opmode_blocking)
time.sleep(1)
vrep.simxStopSimulation(clientID, vrep.simx_opmode_oneshot_wait)
vrep.simxFinish(clientID)
print 'Connection to vrep reset-ed!'
def connect(self):
#os.chdir(VREP_HOME)
#subprocess.call([os.path.join(VREP_HOME,'vrep.sh'), VREP_scene_file], shell = True, cwd = VREP_HOME)
"Close existing connections"
vrep.simxFinish(-1)
"Connect to Simulation"
self.simulID = vrep.simxStart(self.robot_host,self.simulation_port,True,True, 5000,5)
eCode = vrep.simxSynchronous(self.simulID, True)
if eCode != 0:
print "Could not get V-REP to synchronize operation with me"
if not self.simulID == -1:
eCode = vrep.simxStartSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
print "my SimulID is ", self.simulID
else:
sys.exit("Failed to connect to VREP simulation. Bailing out")
def vrepSim(clientID, action):
vrep.simxFinish(-1)
localhost = "127.0.0.1"
clientID=vrep.simxStart(localhost,19997,True,True,1000,5)
if clientID!=-1:
print('Connected to remote API server')
if action=="start":
err = vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot_wait)
if (not err):
print('Sim Started')
elif action=="stop":
err = vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)
if (not err):
print('Sim Stopped')
print("Disconnected from remote API server")
else:
print('Failed connecting to remote API server')
vrep.simxFinish(clientID)
return clientID
def __init__(self):
vrep.simxFinish(-1) # just in case, close all opened connections
time.sleep(0.5)
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # tenta conectar no simulador, se salva o clientID
# paramos a simulacao, se estiver em andamento, e comecamos denovo
# vrep.simxStopSimulation(self.clientID, vrep.simx_opmode_oneshot)
#time.sleep(0.5)
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)
# modo da API, como eh False, esta no modo assincrono(os ticks da simulacao rodam em velocidade independente)
vrep.simxSynchronous(self.clientID, False)
print("connected with id ", self.clientID)
self.oldtarget = None
self.camera = None
self.setup()
self.lastimageAcquisitionTime = 0
def connection(self):
"""
Make connection with v-rep simulator
"""
print ('Waiting for connection...')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',self.port,True,True,5000,5) # Connect to V-REP
if self.clientID!=-1:
print ('Connected to remote API server')
# enable the synchronous mode on the client:
if self.synchronous:
vrep.simxSynchronous(self.clientID,True)
# start the simulation:
vrep.simxStartSimulation(self.clientID,vrep.simx_opmode_oneshot_wait)
else:
raise IOError('Failed connecting to remote API server')
def initializeVrepClient(self):
""" Initialization for Python to connect to VREP.
We obtain a clientID after connecting to VREP, which is saved to
`self.clientID`
This method is only called if we controlling one robot with the remote API
"""
print 'Python program started'
count = 0
num_tries = 10
while count < num_tries:
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart(self.ip,self.port,True,True,5000,5) #Timeout=5000ms, Threadcycle=5ms
if self.clientID!=-1:
print 'Connected to V-REP'
break
else:
"Trying again in a few moments..."
time.sleep(3)
count += 1
if count >= num_tries:
print 'Failed connecting to V-REP'
vrep.simxFinish(self.clientID)
def __init__(self,port_number):
vrep.simxFinish(-1)
self.clientID = vrep.simxStart('127.0.0.1', port_number, True, True, 5000, 5)
# start simulation
rc = vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot_wait)
# object handles
res, self.quad_obj = vrep.simxGetObjectHandle(self.clientID, 'Quadricopter', vrep.simx_opmode_oneshot_wait)
res, self.camera = vrep.simxGetObjectHandle(self.clientID, 'Vision_sensor', vrep.simx_opmode_oneshot_wait)
res, self.target = vrep.simxGetObjectHandle(self.clientID, 'Quadricopter_target', vrep.simx_opmode_oneshot_wait)
# Initialise data streaming from V-REP
err, resolution, image = vrep.simxGetVisionSensorImage(self.clientID, self.camera, 0, vrep.simx_opmode_streaming)
_,pos = vrep.simxGetObjectPosition(self.clientID, self.quad_obj, -1, vrep.simx_opmode_streaming)
_,target_pos = vrep.simxGetObjectPosition(self.clientID, self.target, -1, vrep.simx_opmode_streaming)
time.sleep(2)
# Variables
_,self.last_pos = vrep.simxGetObjectPosition(self.clientID, self.quad_obj, -1, vrep.simx_opmode_buffer)
def connect(self):
"""
Connect to the V-REP simulator
:return: If the connection was successful
:rtype: boolean
"""
if self.is_connected():
self._debug('Already connected')
return False
self._clientID = vrep.simxStart(self._hostname, self._port, True, True, 5000, 5)
if self._clientID == -1:
self._debug("Failed to connect to remote V-REP server")
return False
self._debug("Connected to V-REP server")
self.reset()
return True
def init_vrep_connection(self):
vrep.simxFinish(-1) # just in case, close all opened connections
self.client_id=vrep.simxStart(self.ip,self.port,True,True,5000,5) # Connect to V-REP
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)
#get motor handler
self.motor_handlers = []
for motor in self.robot.motors:
res, motor_handler = vrep.simxGetObjectHandle(
self.client_id,
motor.name,
vrep.simx_opmode_oneshot_wait
)
self.motor_handlers.append(motor_handler)
self.motor_handlers.sort()
print(self.motor_handlers)
#get effector handler
res, self.effector_handler = vrep.simxGetObjectHandle(
self.client_id,
'effector',
vrep.simx_opmode_oneshot_wait
)
#get collision handler
self.collision_handlers = []
for collision in self.collision_list:
res, collision_handler = vrep.simxGetObjectHandle(
self.client_id,
collision,
vrep.simx_opmode_oneshot_wait
)
self.collision_handlers.append(collision_handler)
vrep.simxStartSimulation(self.client_id, vrep.simx_opmode_oneshot_wait)
def __init__(self, cfg, verbose=False, calcheck=True, setup=True):
self.cfg = cfg
self.verbose = verbose
self.calcheck = calcheck
self.setup = setup
self.connected = False
self.scene_loaded = False
self.tracked_objects = []
self.tracked_handles = []
self.handles = {}
self.info = {}
if not calcheck:
assert not cfg.execute.prefilter, 'Can\'t skip the calibration check and prefilter collisions. Choose.'
self.vrep_proc = None
self.mac_folder = os.path.expanduser(cfg.execute.simu.mac_folder)
self.launch_sim()
self.objects_pos = {}
remote_api.simxFinish(-1)
trycount = 0
while trycount < 5:
self.api_id = remote_api.simxStart('127.0.0.1', self.port, True, False, 5000, 5)
if self.api_id != -1:
break
trycount += 1
assert self.api_id != -1
time.sleep(1)
self.scene = None
if setup and cfg.execute.simu.load:
if self.cfg.execute.is_simulation:
self.setup_scene('robot')
else:
self.setup_scene('solomarker')
