def close_session(simulator, *epucks):
simulator.close()
for e in epucks:
e.close()
del e
del simulator
sleep(0.1)
close_all_connections()
def main():
x_home = [0.060175, -0.0049936, 0.31573]
q_home = [0, 0, 0, 0, 0]
robot = from_vrep(scene = '../model_1/luxo_1_kinematic.ttt',
config = '../model_1/config_luxo_1.json'
)
robot.stop_simulation()
robot._controllers[0].io.call_remote_api('simxCloseScene')
close_all_connections()
# robot = {
# "motors":{
# "foot":{
# "id":12,
# "orientation":"direct",
# "type":"AX-12",
# "offset":0.0
# },
# "body_bottom":{
# "id":13,
# "orientation":"direct",
# "type":"AX-12",
# "angle_limit":[-90.0, 90.0],
# "offset":0.0
# },
# "body_middle":{
# "id":14,
# "orientation":"direct",
# "type":"AX-12",
# "angle_limit":[-130.0, 130.0],
# "offset":0.0
# },
# "body_top":{
# "id":15,
# "orientation":"direct",
# "type":"AX-12",
# "angle_limit":[-130.0, 130.0],
# "offset":0.0
# },
# "head":{
# "id":16,
# "orientation":"direct",
# "type":"AX-12",
# "offset":0.0
# }
# }
# }
f = VrepDirectFunctionWoPypot(robot)
g = PolynomialModel(3,5,4,q_home)
trainer = GoalBabblingTrainer(g,f,q_home,x_home, '../model_1/luxo_1_data_20_5.json')
trainer.train(200,4,0.05)
def get_session(n_epucks=1, use_proximeters=[2, 3], old_simulator=None, old_epuck=None):
if old_simulator is not None:
old_simulator.stop()
old_simulator.io.close()
del old_simulator
if old_epuck is not None:
old_epuck.stop()
old_epuck.io.close()
del old_epuck
sleep(0.1)
close_all_connections()
sleep(0.1)
close_all_connections()
sleep(0.1)
simulator = Simulator()
simulator.io.restart_simulation()
epucks = [simulator.get_epuck(use_proximeters=use_proximeters) for _ in range(n_epucks)]
if n_epucks == 1:
return simulator, epucks[0]
else:
return [simulator] + epucks
def close():
close_all_connections()
