The leds are simulated on a webpage located at localhost:5000/. Each led is an SVG-circle, which fill color can be set through python (via ZMQ) (and forwarded by SSE).

1. Launch the server

gunicorn -k gevent -b 0.0.0.0:5000  app:app

• To control the leds, import the module

from sim_led import set_led

• and call

set_led(0,(255,0,0))

The robot is simulated in vrep. A python interface exposes pose, velocity, and (proximity) distance.

1. Launch VREP, load the scene (basic_scene.ttt), and start the simulation

• To get the robot's state, import the module

from sim_vrep import get_robot_pose, get_robot_speed
from sim_vrep import get_robot_distance, get_human_pose

• and call

x, y, theta = get_robot_pose()
speed = get_robot_speed()
distance = get_robot_distance()
x_h, y_h, theta_h = get_human_pose()

The file sim_controller.py provides the skelethon for a simple controller. Complete the function

def set_leds(robot_pose, robot_speed, robot_distance, human_pose):
   ...

that map the robot's state to the leds.

Then run

python sim_controller.py