def conect_and_load(port, ip): sim.simxFinish(-1) # just in case, close all opened connections clientID = sim.simxStart(ip,port,True,True,5000,5) # Connect to CoppeliaSim scene_path = os.path.join('vrep_scene', 'hexapod_scene.ttt') print('-'*5, 'Scene path:', scene_path, '-'*5) sim.simxLoadScene(clientID, scene_path, 0xFF, sim.simx_opmode_blocking) return clientID
def conect_and_load(port, ip): clientID = sim.simxStart(ip, port, True, True, 5000, 5) # Connect to CoppeliaSim scene_path = os.path.join('vrep-scene', 'poppy_two_target_pos_z.ttt') print('-' * 5, 'Scene path:', scene_path, '-' * 5) sim.simxLoadScene(clientID, scene_path, 0xFF, sim.simx_opmode_blocking) return clientID
def startvrep(): global clientID2 sim.simxFinish(-1) # just in case, close all opened connections clientID = sim.simxStart(flask_ip, vrep_port, True, True, 5000, 5) # Get the client ID clientID2 = sim.simxStart(flask_ip, vrep_port2, True, True, 5000, 5) res = sim.simxLoadScene(clientID, scene_path, 0, sim.simx_opmode_blocking) x = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot_wait) if clientID != -1 or clientID2 != -1: #check if client connection successful print('Connected to remote API server') else: print('Connection not successful') sys.exit('Could not connect') # Initialize car control object AirHockey = air_Hockey(clientID) #for i in range(150): while True: # Start time for image process err, img = AirHockey.get_image() ret, jpeg = cv2.imencode('.jpg', img) #jpeg.tobytes() yield (b'--frame\r\n' b'Content-Type: image/jpeg\r\n\r\n' + jpeg.tobytes() + b'\r\n') return "startvrep"
def load_scene(self, scene_path_and_filename): """ remotely load the scene in client from file located at evo_master """ ret = sim.simxLoadScene(self.clientID, scene_path_and_filename, 1, mode2) return ret
def inputxmlfile(self): #number returnCode=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode) sim.simxLoadScene( self.clientID, "I:\fall2020_v2\data\home\Desktop\40723103\Coppeliasim model.ttt", 0xFF, sim.simx_opmode_blocking) ''' # relative to remote API client location, relative path: sim.simxLoadScene(clientID,'test/testScene.ttt',0xFF,vrep.simx_opmode_blocking) # relative to V-REP executable location, relative path: sim.simxLoadScene(clientID,'scenes/collisionDetectionDemo.ttt',0x00,vrep.simx_opmode_blocking) # relative to remote API client location, absolute path: sim.simxLoadScene(clientID,'c:/python27/test/testScene.ttt',0xFF,vrep.simx_opmode_blocking) # relative to V-REP executable location, absolute path: sim.simxLoadScene(clientID,'d:/v_rep/qrelease/release/scenes/collisionDetectionDemo.ttt',0x00,vrep.simx_opmode_blocking) ''' print("successful input file")
def loadScene(): global client if client is None: return "-1" scene = request.args.get('scene') stop() response = sim.simxLoadScene(client, scene, 0xFF, sim.simx_opmode_blocking) while response == 1: verboseResp(response, "simxLoadScene " + scene) response = sim.simxLoadScene(client, scene, 0xFF, sim.simx_opmode_blocking) sleep(againIn) verboseResp(response, "simxLoadScene " + scene) if not response: while setCameraBuffer() == "-1": sleep(againIn) return play() return str(response)
sim.sim_scripttype_childscript, # scriptHandleOrType 'step', # functionName [], # ints [], # floats [], # strings emptyBuff, # buffer sim.simx_opmode_blocking, ) ### Simulation ### #set global variables HUMAN_FOLLOW_DIST=.3 # load the scene res = sim.simxLoadScene(clientID, 'fivedoors.ttt', True, sim.simx_opmode_blocking) res = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot) # get handles robotHandle = getHandleFromName('lumibot') left_motor_handle = getHandleFromName('lumibot_leftMotor') right_motor_handle = getHandleFromName('lumibot_rightMotor') doors=[getHandleFromName('_doorJoint')] pathCtrlPoints = [] for i in range(1,5): doors.append(getHandleFromName('_doorJoint#'+str(i))) pathCtrlPoints.append(getHandleFromName('CtrlPt'+str(i))) pathCtrlPoints.append(getHandleFromName('CtrlPt5')) humanHandle = getHandleFromName('Bill_base') doorInd=0
return None # get the obstacles to avoid restrictions = input('Ok. What would you like to avoid?') if response in ENDINGS: # if the human changes their mind then just plan the path print('Ok. Planning your path now.') return None # list obstacles that the user wants to avoid print('Great. Planning a path now that avoids', restrictions) restrictions = restrictions.split(',') return restrictions ### Simulation ### # load the scene res = sim.simxLoadScene(clientID, 'maze2.ttt', True, sim.simx_opmode_blocking) res = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot) # get handles robotHandle = getHandleFromName('lumibot') billHandle = getHandleFromName('Bill') dummy_list = { 'plant': getHandleFromName('Plant'), 'motorcycle': getHandleFromName('MotorCycle'), 'r2d2': getHandleFromName('R2D2'), 'bathroom': getHandleFromName('Bathroom'), 'blue chair': getHandleFromName('Blue_Chair'), 'yellow chair': getHandleFromName('Yellow_Chair'), 'table': getHandleFromName('Table') } left_motor_handle = getHandleFromName('lumibot_leftMotor')
def inputxmlfile(self): #number returnCode=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode) file_input = sim.simxLoadScene(self.clientID, "Y:\home\Desktop\0126.ttt", 0x00, sim.simx_opmode_blocking) print("successful input file")