def __init__(self, visible=False):
Lucy.__init__(self)
self.visible = visible
genetic_bioloid = os.getcwd() + self.sysConf.getFile("Lucy vrep model")
self.sim = Simulator(genetic_bioloid)
self.clientID = self.sim.getClientId()
if self.clientID == -1:
retry_counter = sysConstants.ERROR_RETRY
time.sleep(0.1)
self.clientID = self.sim.getClientId()
while self.clientID == -1 and retry_counter > 0:
time.sleep(0.5)
retry_counter = retry_counter - 1
self.clientID = self.sim.getClientId()
print "waiting for vrep connection"
if self.clientID == -1:
raise VrepException("error connecting with Vrep", -1)
self.sim.startSim(self.clientID,self.visible)
self.jointHandleCachePopulated = False
configuration = LoadRobotConfiguration()
self.joints = configuration.getJointsName()
self.firstCallGetFrame = True
self.sim.robotOrientationToGoal()
self.updateLucyPosition()
self.posesExecutedByStepQty = self.sim.getPosesExecutedByStepQty(self.clientID)
def __init__(self, visible=False):
self.conf = LoadSystemConfiguration()
self.configuration = LoadRobotConfiguration()
self.visible = visible
genetic_bioloid = os.getcwd()+self.conf.getFile("Lucy vrep model")
self.sim = Simulator().getInstance(genetic_bioloid)
self.clientID = self.sim.getClientId() #self.sim.connectVREP()
if self.clientID == -1:
raise VrepException("error connecting with Vrep", -1)
#self.sim.loadscn(self.clientID, genetic_bioloid)
self.sim.startSim(self.clientID,self.visible)
self.time = 0
self.startTime = time.time()
self.jointHandleCachePopulated = False
self.stop = False
self.distance = 0
configuration = LoadRobotConfiguration()
self.joints = configuration.getJointsName()
self.startPosSetted = False
self.firstCallGetFrame = True
error, x, y = self.sim.getBioloidPlannarPosition(self.clientID)
if not error:
self.startPosSetted = True
self.startPos = [x,y]
else:
threading.Timer(float(self.conf.getProperty("threadingTime")), self.setStartPositionAsync).start()
def __init__(self, simulatorModel=None):
self.robotOrientationFirstTime = True
self.getDistanceToGoalFirstTime = True
self.getUpDistanceFirstTime = True
self.getObjectPositionFirstTime = True
self.sysConf = LoadSystemConfiguration()
#this data structure is like a cache for the joint handles
self.jointHandleMapping = {}
robotConf = LoadRobotConfiguration()
self.model = simulatorModel
self.LucyJoints = robotConf.getJointsName()
for joint in self.LucyJoints:
self.jointHandleMapping[joint]=0
self.clientId = self.connectVREP()
RETRY_ATTEMPTS = 50
if simulatorModel:
for i in range(RETRY_ATTEMPTS):
#TODO try to reutilize the same scene for the sake of performance
error = self.loadscn(self.clientId, simulatorModel)
if not error:
break
print "retrying connection to vrep"
if error:
raise VrepException("error loading Vrep robot model", -1)
if int(self.sysConf.getProperty("synchronous mode?"))==1:
self.synchronous = True
vrep.simxSynchronousTrigger(self.clientId)
else:
self.synchronous = False
self.speedmodifier = int(self.sysConf.getProperty("speedmodifier"))
#setting the simulation time step
self.simulationTimeStepDT = float(self.sysConf.getProperty("simulation time step"))
'''#testing printing in vrep
error, consoleHandler = vrep.simxAuxiliaryConsoleOpen(self.clientId, "lucy debugging", 8, 22, None, None, None, None, vrep.simx_opmode_oneshot_wait)
print "console handler: ", consoleHandler
vrep.simxAuxiliaryConsoleShow(self.clientId, consoleHandler, 1, vrep.simx_opmode_oneshot_wait)
error = vrep.simxAuxiliaryConsolePrint(self.clientId, consoleHandler, "Hello World", vrep.simx_opmode_oneshot_wait)'''
error, self.upDistanceHandle = vrep.simxGetDistanceHandle(self.clientId, "upDistance#", vrep.simx_opmode_blocking)
error, self.distLFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceLFootGoal#", vrep.simx_opmode_blocking)
error, self.distRFootToGoalHandle = vrep.simxGetDistanceHandle(self.clientId, "distanceRFootGoal#", vrep.simx_opmode_blocking)
error, self.bioloidHandle = vrep.simxGetObjectHandle(self.clientId,"Bioloid", vrep.simx_opmode_oneshot_wait)
error, self.cuboidHandle = vrep.simxGetObjectHandle(self.clientId,"Cuboid", vrep.simx_opmode_oneshot_wait)
error, self.armHandler = vrep.simxGetObjectHandle(self.clientId, "Pivot", vrep.simx_opmode_oneshot_wait)
self.populateJointHandleCache(self.clientId)
self.isRobotUpFirstCall = True
self.getDistanceToSceneGoal() #to fix the first invocation
self.getUpDistance()
self.isRobotUp(self.clientId)
self.armPositionXAxis = -9.0000e-02
def __init__(self, simulatorModel=None):
self.getObjectPositionFirstTime = True
#this data structure is like a cache for the joint handles
self.jointHandleMapping = {}
robotConf = LoadRobotConfiguration()
self.model = simulatorModel
self.LucyJoints = robotConf.getJointsName()
for joint in self.LucyJoints:
self.jointHandleMapping[joint]=0
self.clientId = self.connectVREP()
if simulatorModel:
self.loadscn(self.clientId, simulatorModel)
def normaliseConcatenationGap(self, concatenationGap):
prop = DTIndividualPropertyVanillaEvolutive()
robotConf = LoadRobotConfiguration()
robotJoints = robotConf.getJointsName()
totalJointsQty = len(robotJoints)
avoidJointsQty = 0
maxJointDiff = 300
for joint in robotJoints:
if prop.avoidJoint(joint):
avoidJointsQty += 1
minDiff = (totalJointsQty - avoidJointsQty) * maxJointDiff
maxDiff = 0
normalizedGap = (concatenationGap - minDiff) / (maxDiff - minDiff)
return abs(normalizedGap)
class Lucy(object):
def __init__(self):
self.sysConf = LoadSystemConfiguration()
self.robotConfiguration = LoadRobotConfiguration()
self.joints = self.robotConfiguration.getJointsName()
self.time = 0
self.startTime = time.time()
self.distance = 0
self.stop = False
self.poseExecuted = 0
def getFitness(self, endFrameExecuted=False):
pass
def executePose(self, pose):
pass
def getFrame(self):
pass
def stopLucy(self):
pass
def isLucyUp(self):
pass
class Lucy(object):
def __init__(self):
self.sysConf = LoadSystemConfiguration()
self.robotConfiguration = LoadRobotConfiguration()
self.joints = self.robotConfiguration.getJointsName()
self.time = 0
self.startTime = time.time()
self.distance = 0
self.stop = False
self.poseExecuted = 0
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
self.RobotImplementedJoints = []
for joint in self.joints:
if joint not in dontSupportedJoints:
self.RobotImplementedJoints.append(joint)
def getFitness(self, secuenceLength, concatenationGap):
pass
def executePose(self, pose):
pass
def getFrame(self):
pass
def stopLucy(self):
pass
def isLucyUp(self):
pass
def getPosesExecutedByStepQty(self):
pass
def __init__(self):
self.sysConf = LoadSystemConfiguration()
self.robotConfiguration = LoadRobotConfiguration()
self.joints = self.robotConfiguration.getJointsName()
self.time = 0
self.startTime = time.time()
self.distance = 0
self.stop = False
self.poseExecuted = 0
def __init__(self):
self.sysConf = LoadSystemConfiguration()
self.robotConfiguration = LoadRobotConfiguration()
self.joints = self.robotConfiguration.getJointsName()
self.time = 0
self.startTime = time.time()
self.distance = 0
self.stop = False
self.poseExecuted = 0
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
self.RobotImplementedJoints = []
for joint in self.joints:
if joint not in dontSupportedJoints:
self.RobotImplementedJoints.append(joint)
def __init__(self):
self.sysConf = LoadSystemConfiguration()
self.robotConfiguration = LoadRobotConfiguration()
self.joints = self.robotConfiguration.getJointsName()
self.time = 0
self.startTime = time.time()
self.distance = 0
self.distanceBeforMoveArmLastCall = 0
self.armDistance = 0
self.stop = False
self.poseExecuted = 0
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
self.RobotImplementedJoints = []
for joint in self.joints:
if joint not in dontSupportedJoints:
self.RobotImplementedJoints.append(joint)
self.balanceHeight = float(self.sysConf.getProperty("BALANCE_HEIGHT"))
class SimLucy:
def __init__(self, visible=False):
self.conf = LoadSystemConfiguration()
self.configuration = LoadRobotConfiguration()
self.visible = visible
genetic_bioloid = os.getcwd()+self.conf.getFile("Lucy vrep model")
self.sim = Simulator().getInstance(genetic_bioloid)
self.clientID = self.sim.getClientId() #self.sim.connectVREP()
if self.clientID == -1:
raise VrepException("error connecting with Vrep", -1)
#self.sim.loadscn(self.clientID, genetic_bioloid)
self.sim.startSim(self.clientID,self.visible)
self.time = 0
self.startTime = time.time()
self.jointHandleCachePopulated = False
self.stop = False
self.distance = 0
configuration = LoadRobotConfiguration()
self.joints = configuration.getJointsName()
self.startPosSetted = False
self.firstCallGetFrame = True
error, x, y = self.sim.getBioloidPlannarPosition(self.clientID)
if not error:
self.startPosSetted = True
self.startPos = [x,y]
else:
threading.Timer(float(self.conf.getProperty("threadingTime")), self.setStartPositionAsync).start()
def setStartPositionAsync(self):
if not self.startPosSetted:
error, x, y = self.sim.getBioloidPlannarPosition(self.clientID)
if not error:
self.startPosSetted = True
self.startPos = [x,y]
else:
threading.Timer(float(self.conf.getProperty("threadingTime")), self.setStartPositionAsync).start()
def getSimTime(self):
if self.stop == False:
self.time = time.time() - self.startTime
return self.time
def getSimDistance(self):
return self.distance
def getFitness(self, endFrameExecuted=False):
#print "time ", self.getSimTime(), "distance ", self.getSimDistance()
time = self.getSimTime()
distance = self.getSimDistance()
#fitness = time + distance * time
fitness = distance * time
if endFrameExecuted:
fitness = fitness * 2
return fitness
#this function ins deprecated
def executeFrame(self, pose):
error = False
#Above's N joints will be received and set on the V-REP side at the same time'''
if (self.jointHandleCachePopulated == False):
self.sim.populateJointHandleCache(self.clientID)
self.jointHandleCachePopulated = True
error = self.sim.pauseSim(self.clientID) or error
for j in xrange(len(pose)-1):
joint=pose.keys()[j]
angle=pose[joint]
error=self.sim.setJointPositionNonBlock(self.clientID, joint, angle) or error
error = self.sim.resumePauseSim(self.clientID) or error
joint=pose.keys()[len(pose)-1]
angle=pose[joint]
error=self.sim.setJointPosition(self.clientID, joint, angle) or error
if error:
raise VrepException("error excecuting a frame", error)
def executePose(self, pose):
error = False
dontSupportedJoints = self.conf.getVrepNotImplementedBioloidJoints()
RobotImplementedJoints = []
#Above's N joints will be received and set on the V-REP side at the same time'''
if (self.jointHandleCachePopulated == False):
self.sim.populateJointHandleCache(self.clientID)
self.jointHandleCachePopulated = True
error = self.sim.pauseSim(self.clientID) or error
robotJoints = self.configuration.getJointsName()
for joint in robotJoints:
if joint not in dontSupportedJoints:
RobotImplementedJoints.append(joint)
jointsQty = len(RobotImplementedJoints)
jointExecutedCounter=0
for joint in RobotImplementedJoints:
angle = pose.getValue(joint)
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angle) or error
else:
error = self.sim.resumePauseSim(self.clientID) or error
error = self.sim.setJointPosition(self.clientID, joint, angle) or error
jointExecutedCounter = jointExecutedCounter + 1
self.updateLucyPosition()
#if error:
# raise VrepException("error excecuting a pose", error)
def getFrame(self): #TODO return a Pose object
error = False
pose = {}
dontSupportedJoints = self.conf.getVrepNotImplementedBioloidJoints()
if (self.jointHandleCachePopulated == False):
self.sim.populateJointHandleCache(self.clientID)
self.jointHandleCachePopulated = True
error = self.sim.pauseSim(self.clientID) or error
for joint in self.joints:
if joint not in dontSupportedJoints: #actual model of vrep bioloid don't support this joints
errorGetJoint, value = self.sim.getJointPositionNonBlock(self.clientID, joint, self.firstCallGetFrame)
error = error or errorGetJoint
pose[joint] = value
else:
pose[joint] = 0
self.firstCallGetFrame = False
error = self.sim.resumePauseSim(self.clientID) or error
#if error:
# raise VrepException("error geting a frame", error)
return error, pose
def updateLucyPosition(self):
if self.stop == False:
self.time = time.time() - self.startTime
errorPosition, x, y = self.sim.getBioloidPlannarPosition(self.clientID)
if self.startPosSetted and not errorPosition:
self.distance = math.sqrt((x-self.startPos[X])**2 + (y-self.startPos[Y])**2)
def stopLucy(self):
self.stop = True
self.updateLucyPosition()
self.sim.finishSimulation(self.clientID)
def isLucyUp(self):
error, up = self.sim.isRobotUp(self.clientID)
if error:
#raise VrepException("error consulting if lucy is up", error)
return True
return up
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
import xml.etree.cElementTree as ET
from LoadRobotConfiguration import LoadRobotConfiguration
import Communication
from Communication import CommSerial
import Actuator
comm_tty = CommSerial() #TODO read a configuration file to use the correct parameters for CommSimulator
comm_tty.connect()
actuator_tty = Actuator.Actuator(comm_tty)
root = ET.Element("root")
lucy = ET.SubElement(root, "Lucy")
config = LoadRobotConfiguration()
frameIt = 0
ri = raw_input('presione \'c\' para capturar otra tecla para terminar \n')
while(ri == 'c'):
frame = ET.SubElement(lucy, "frame")
frame.set("number" , str(frameIt))
for joint in config.getJointsName():
xmlJoint = ET.SubElement(frame, joint)
joint_id = config.loadJointId(joint)
print joint_id
pos = actuator_tty.get_position(joint_id)
#actuator_tty.move_actuator(frameIt,500,700)
#print pos
#xmlJointAngle = xmlJoint.set("angle" , "3")
xmlJointAngle = xmlJoint.set("angle" , str(pos))
ri = raw_input('presione \'c\' para capturar otra tecla para terminar \n')
