import time from pyrep import VRep from math import * import matplotlib.pyplot as plt import numpy as np # contextlib # simpy # multiprocessing cpu with VRep.connect("127.0.0.1", 19997) as vrep: # vrep.simulation.stop() # time.sleep(2) vrep.simulation.start() j_vel = vrep.joint.with_velocity_control("joint_force") j_pos = vrep.joint.with_position_control("joint_position") j_pas = vrep.joint.passive("joint_passive") j_sph = vrep.joint.spherical("sp_joint") j_spr = vrep.joint.spring("joint_spring") s = vrep.sensor.proximity("sensor") v = vrep.sensor.vision("vision") j_vel.set_target_velocity(2) j_spr.set_target_position(2) plt.figure("Raw image") for i in range(5): b = pi / 9 j_pos.set_target_position(b * i + 0.2)
import os os.environ["VREP"] = "/home/anjd/github/V-REP_PRO_EDU_V3_5_0_Linux" os.environ[ "VREP_LIBRARY"] = "/home/anjd/github/V-REP_PRO_EDU_V3_5_0_Linux/programming/remoteApiBindings/lib/lib/Linux/64Bit/" from pyrep import VRep from hardware.robot import Robot from moo_system import MooSystem from naive_system import NaiveSystem from simple_system import SimpleSystem if __name__ == '__main__': # run with VRep.connect("127.0.0.1", 19997) as api: r = Robot(api) # cs = NaiveSystem(r) # cs = SimpleSystem(r) cs = MooSystem(r) cs.run()
# ------------------------------------ # ---------------------------------- # Initialize the neural network # ---------------------------------- nn_param = [200, 200, 200] # 128, 128 params = {"batchSize": 100, "buffer": 50000, "nn": nn_param} MainNetwork = NeuralNetwork(NUM_INPUT, nn_param) TargetNetwork = MainNetwork # ---------------------------------- # Remote API connection # ---------------------------------- api = VRep.connect("127.0.0.1", 19997) r = Robot(api) # ---------------------------------- # # ---------------------------------- x_rob_init, y_rob_init = -1.7000, -1.9250 # True #x_rob_init, y_rob_init = -1.685, -1.884 # Alternative x_goal_init = [1.625, -0.425, 1.125, -1.925, -1.925, -0.275] y_goal_init = [1.7, 0.85, -1.75, -1.225, 1.7, -0.75] dist_to_goal_back_init1 = math.sqrt((x_rob_init - x_goal_init[0])**2 + (y_rob_init - y_goal_init[0])**2) dist_to_goal_back_init2 = math.sqrt((x_rob_init - x_goal_init[1])**2 + (y_rob_init - y_goal_init[1])**2) dist_to_goal_back_init3 = math.sqrt((x_rob_init - x_goal_init[2])**2 +