# Import all required libraries
import sys
sys.path.append('../')
import numpy as np
import time
import os
import keyboard
import cv2
import math
from Common_Libraries.quanser_sim_lib import QArm_sim, genericSpawn_sim, autoclave_sim, EMG_sim
from Common_Libraries.postman import postman
from Common_Libraries.modular_comm import comm_modular_container
QIL = postman(18001)
class qarm:
def __init__(self):
self.my_qarm = QArm_sim(QIL)
self.my_qarm.set_base_color([0, 1, 0])
self.tolerance = 0.01
self.cage_red_small = [1, 0.5, "Small red cage"]
self.cage_green_small = [2, 0.5, "Small green cage"]
self.cage_blue_small = [3, 0.5, "Small blue cage"]
self.cage_red_large = [4, 1, "Large red cage"]
self.cage_green_large = [5, 1, "Large green cage"]
import os import math from Common_Libraries.postman import postman from Common_Libraries.modular_comm import comm_modular_container # from Common_Libraries.quanser_sim_lib import rotarytable_sim, QArm_sim, QBot2e_sim, CameraUI from Common_Libraries.quanser_sim_lib import * from Common_Libraries.modular_comm import comm_modular_server from array import * import random #initialize the QuanserSim environment QIL = postman(18001) #Establish communication loop_counter = 0 servo_speed = 0.15 interval = 0.2 # Servo Table Constants # Container properties empty_plastic_container = 9.25 # empty mass of plastic container in g empty_metal_container = 15.0 # empty mass of metal container in g empty_paper_container = 10.0 # empty mass of paper container in g # QBot Constants QBOT_DIAMETER = 0.235 camera_bumper_depth = 0.156 row = 360 # centre pixel is 240 , bottom pixel is 480 col = 320