def simulation(self): sim.simxSynchronous(self.clientID, 1) #同步模式 sim.simxSynchronousTrigger(self.clientID) # Start simulation sim.simxStartSimulation(self.clientID, sim.simx_opmode_oneshot_wait) print("Simulation start")
def stepSimulation(): currentStep=client.stepCounter sim.simxSynchronousTrigger(client.id); while client.stepCounter==currentStep: retCode,s=sim.simxGetIntegerSignal(client.id,client.intSignalName,sim.simx_opmode_buffer) if retCode==sim.simx_return_ok: client.stepCounter=s
def stepSimulation(): if client.runInSynchronousMode: currentStep = client.stepCounter sim.simxSynchronousTrigger(client.id) while client.stepCounter == currentStep: retCode, s = sim.simxGetIntegerSignal( client.id, client.intSignalName, sim.simx_opmode_buffer) if retCode == sim.simx_return_ok: client.stepCounter = s retCode, res, img = sim.simxGetVisionSensorImage( client.id, client.visionSensorHandle, 0, sim.simx_opmode_buffer) client.lastImageAcquisitionTime = sim.simxGetLastCmdTime( client.id) if retCode == sim.simx_return_ok: sim.simxSetVisionSensorImage( client.id, client.passiveVisionSensorHandle, img, 0, sim.simx_opmode_oneshot) else: retCode, res, img = sim.simxGetVisionSensorImage( client.id, client.visionSensorHandle, 0, sim.simx_opmode_buffer) if retCode == sim.simx_return_ok: imageSimTime = sim.simxGetLastCmdTime(client.id) if client.lastImageAcquisitionTime != imageSimTime: client.lastImageAcquisitionTime = imageSimTime sim.simxSetVisionSensorImage( client.id, client.passiveVisionSensorHandle, img, 0, sim.simx_opmode_oneshot)
def step(self, action, reset): if sys.version_info[0] == 3: _ = sim.simxSetObjectPosition(self.clientID, self.target, -1, self.target_position, sim.simx_opmode_oneshot) sensor_data = np.zeros((self.total_sensors), dtype=np.float32) vel_reading = np.zeros((2), dtype=np.float32) angular_reading = 0 collision = np.zeros((2), dtype=np.float32) target_location = np.zeros((3), dtype=np.float32) target_location = np.round_( np.subtract(np.array(self.position[:2]), np.array(self.target_position[:2])), 3) if (reset == False): if (self.flag): _, target_location = sim.simxGetObjectPosition( self.clientID, self.target, -1, sim.simx_opmode_buffer) _, bot_location = sim.simxGetObjectPosition( self.clientID, self.bot, -1, sim.simx_opmode_buffer) target_location = np.round_([ bot_location[0] - target_location[0], bot_location[1] - target_location[1] ], 3) self.flag = True speed = (self.velocity * action[0]) / 100 turn = (self.angular_velocity * action[1]) / 100 l_wheel_vel = round( (speed - self.wheel_basis * turn) / self.wheel_radius, 4) r_wheel_vel = round( (speed + self.wheel_basis * turn) / self.wheel_radius, 4) _ = sim.simxSetJointTargetVelocity(self.clientID, self.left_wheel, l_wheel_vel, sim.simx_opmode_streaming) _ = sim.simxSetJointTargetVelocity(self.clientID, self.right_wheel, r_wheel_vel, sim.simx_opmode_streaming) #Collision _, collision[0] = sim.simxGetIntegerSignal( self.clientID, "collision_wall", sim.simx_opmode_buffer) _, collision[1] = sim.simxGetIntegerSignal( self.clientID, "collision_target", sim.simx_opmode_buffer) sensor_data = self._readsensor_continue() vel_reading, angular_reading = self._get_velocity_reading_continue( ) else: self._create(self.position) #_ = sim.simxSetObjectPosition(self.clientID, self.target, self.bot, self.target_position, sim.simx_opmode_oneshot) #target_location = self.position - self.target_position sim.simxSynchronousTrigger(self.clientID) return sensor_data, vel_reading, angular_reading, target_location, collision else: raw_input('Press <enter> key to step the !')
def step(self, action): d, Oc = self.get_obs() observation = np.array([d, Oc]) reward = -(d**2) if d >= 0.05: done = False Vl, Vr = action else: Vl = 0 Vr = 0 done = True reward = self.MaxSteps - self.steps self.updateVelocities(Vl, Vr) if d >= 2 or self.steps > (self.MaxSteps - 1): done = True if not done: sim.simxSynchronousTrigger(self.clientID) self.steps += 1 xc, yc, theta = self.getPositionRobot() info = {'xc': xc, 'yc': yc} return observation, reward, done, info
def step(self): if sys.version_info[0] == 3: print('enter your code here') else: raw_input('Press <enter> key to step the simulation!') sim.simxSynchronousTrigger(self.clientID)
def velocity(self,max1,max2): #res,joint0 = sim.simxGetObjectHandle(clientID, "Revolute_joint0", sim.simx_opmode_oneshot_wait) #res,joint1 = sim.simxGetObjectHandle(clientID, "Revolute_joint1", sim.simx_opmode_oneshot_wait) res,main_handle = sim.simxGetObjectHandle(self.clientID, 'Cuboid0', sim.simx_opmode_blocking) res,joint0 = sim.simxGetObjectHandle(self.clientID, "motor", sim.simx_opmode_oneshot_wait) #res,joint1 = sim.simxGetObjectHandle(self.clientID, "right_motor", sim.simx_opmode_oneshot_wait) sim.simxSynchronousTrigger(self.clientID) left_Code =sim.simxSetJointTargetVelocity(self.clientID,joint0 ,max1,sim.simx_opmode_oneshot_wait) #right_Code = sim.simxSetJointTargetVelocity(self.clientID,joint1 ,max2,sim.simx_opmode_oneshot_wait) #right_Code = sim.simxSetJointTargetVelocity(clientID,joint1 ,max3,sim.simx_opmode_oneshot_wait) print('finish velocity setting')
def main_loop(self): """ this is looped over in the sub process """ if self.sync: sim.simxSynchronousTrigger(self.clientID) sim.simxPauseCommunication(self.clientID, True) # get position data _, orientation = sim.simxGetObjectOrientation(self.clientID, self.camHandle, -1, sim.simx_opmode_buffer) _, position = sim.simxGetObjectPosition(self.clientID, self.camHandle, -1, sim.simx_opmode_buffer) # retrieve images self.images = self.getImages() # only send or receive once images are not none if self.images is None: time.sleep(1 / 100) return # send images to depth pipeline self.images["display"] = self.Depth2Color(self.images["depth"], 1) self.images["display"] = np.vstack([self.images["RGB"], self.images["display"]]) message = {"position": position, "orientation": orientation, "images": self.images} self.queues["output"].send(message, method="recent") speeds = self.queues["input"].retrieve(method="no_wait") # check keyboard to set wheel directions speed_L, speed_R = self.keyboardInput() if (speeds is not None) and (not self.keyboard_controlled): speed_L = speeds["left"] speed_R = speeds["right"] # activate gripper #if self.gripper_key.click(): # self.setGripper("left", -0.05) # self.setGripper("right", 0.05) #else: # self.setGripper("left", 0.05) # self.setGripper("right", -0.05) # set wheel speeds threads = {"left": Thread(target=self.setSpeed, args=("left", speed_L,)), "right": Thread(target=self.setSpeed, args=("right", speed_R,))} self.startThreads(threads) self.joinThreads(threads) sim.simxPauseCommunication(self.clientID, False)
def step(self): # Now step a few times: if sys.version_info[0] == 3: self._get_pos() _ = sim.simxSetObjectPosition(self.clientID, self.target, -1, self.target_position, sim.simx_opmode_oneshot) # error, value = sim.simxGetIntegerSignal(self.clientID, "data", sim.simx_opmode_streaming) # print(value) # self.set_pos() +8.0299e-02 else: raw_input('Press <enter> key to step the !') sim.simxSynchronousTrigger(self.clientID)
def step(self, action): [d, Oc, alpha, v, w], Sensors = self.get_obs() observation = np.append([d, Oc, v, w], Sensors) done = False if d >= 0.05: Vl, Vr = self.action_translation(action) reward = -(d**2) else: Vl, Vr = [0, 0] done = True reward = 100 if max(Sensors) > 0.97: self.problem = True if self.problem or self.steps == (self.MaxSteps - 1): done = True reward = -100 Vl, Vr = [0, 0] if not done: sim.simxSynchronousTrigger(self.clientID) self.steps += 1 self.updateVelocities(Vl, Vr) v = (Vr + Vl) / 96 w = 5 * (Vr - Vl) / 24 xc, yc, theta = self.getPositionRobot() #self.save_images() info = { 'Distance': d, 'Oc': Oc, 'Lineal': v, 'Angular': w, 'xc': xc, 'yc': yc } return observation, reward, done, info if not done: sim.simxSynchronousTrigger(self.clientID) info = {'Distance': d, 'Oc': Oc, 'Lineal': V, 'Angular': W} return observation, reward, done, info
def reset(self): # reset objects dynamically in lua script result, collision_state, retFloats, retStrings, retBuffer = sim.simxCallScriptFunction( self.clientID, "hexapod", sim.sim_scripttype_childscript, "reset_robot", [], [], [], emptyBuff, blocking) for link, angle in zip(self.links, [0, -30, 120]): for handle in link.values(): sim.simxSetJointTargetPosition(self.clientID, handle, angle * (3.14 / 180), oneshot) sim.simxSynchronousTrigger(self.clientID) self.prev_pos = sim.simxGetObjectPosition(self.clientID, self.hexapod_handle, -1, buffer)[1] self.state = np.ones(self.state_size) * 120 * (3.14 / 180) return self.state # hope coppeliaSim set them properly
def step(self, action): [d, Oc, alpha, v, w], Sensors = self.get_obs() observation = np.append([d, Oc, v, w], Sensors) done = False reward = -(d**2) if d >= 0.05: V, W = self.check_action(action) else: V, W = [0, 0] done = True reward = 100 if max(Sensors) > 0.97 or self.steps == self.MaxSteps - 1: self.problem = True if self.problem: done = True V, W = [0, 0] reward = -100 Vl = (V - (W * 0.1) / 2) * 48 Vr = (V + (W * 0.1) / 2) * 48 self.Velocities = [V, W] self.updateVelocities(Vl, Vr) if not done: self.steps += 1 sim.simxSynchronousTrigger(self.clientID) xc, yc, theta = self.getPositionRobot() info = { 'Distance': d, 'Oc': Oc, 'Lineal': V, 'Angular': W, 'xc': xc, 'yc': yc } return observation, reward, done, info
def doTracking(self): self.resetSim() self.prepareSim() pathIsDone = sim.simxGetFloatSignal(self.clientID, 'movePathDone', sim.simx_opmode_streaming)[1] posX = [] posY = [] posZ = [] tactile1 = [] reward = [] while pathIsDone == 0: X, Y, Z = self.getKinectXYZ(False) # forces = self.getForce(False) # diffForce = (forces[0][0] + ((forces[1][0] + forces[2][0]) / 2))/2 # print('[DATA] diff force: {:.4f}'.format(diffForce)) actionX = X # + 0.005*diffForce actionY = Y actionZ = Z # print('[DATA] X:{:.4f}, Y:{:.4f}, Z:{:.4f}'.format(actionX,actionY,actionZ)) sim.simxSetFloatSignal(self.clientID, 'actionX', actionX, sim.simx_opmode_oneshot) sim.simxSetFloatSignal(self.clientID, 'actionY', actionY, sim.simx_opmode_oneshot) sim.simxSetFloatSignal(self.clientID, 'actionZ', actionZ, sim.simx_opmode_oneshot) sim.simxGetPingTime(self.clientID) sim.simxSynchronousTrigger(self.clientID) forces = self.getForceMagnitude(False) posX.append(X) posY.append(Y) posZ.append(Z) tactile1.append(forces[0]) reward.append(self._getReward()) sim.simxGetPingTime(self.clientID) pathIsDone = sim.simxGetFloatSignal(self.clientID, 'movePathDone', sim.simx_opmode_buffer)[1] # time.sleep(0.5) # print('[INFO] tracking is done.') # print('[DATA] accumulated reward: {}'.format(np.sum(np.array(reward)))) sim.simxStopSimulation(self.clientID, sim.simx_opmode_blocking)
def step(self, action): assert self.action_space.contains(action) joint = int(action / 2) handle = list(self.joint_handles.values())[joint] parent_handle = list(self.links[1].values())[joint] value = self.action_map[action % 2] if joint in self.faulty_joints: value = 0 cur_pos = sim.simxGetJointPosition(self.clientID, handle, buffer)[1] new_pos = cur_pos + value * (3.14 / 180) if np.abs( new_pos ) <= MAX_ANGLE: # Limiting it from rotating beyond |30| degree sim.simxSetJointTargetPosition(self.clientID, parent_handle, -45 * (3.14 / 180), oneshot) sim.simxSynchronousTrigger(self.clientID) sim.simxSetJointTargetPosition(self.clientID, handle, new_pos, oneshot) sim.simxSynchronousTrigger(self.clientID) sim.simxSetJointTargetPosition(self.clientID, parent_handle, -30 * (3.14 / 180), oneshot) sim.simxSynchronousTrigger(self.clientID) # update state, reward, done reward, done = self.calc_reward() self.state[joint] = new_pos else: reward = -1 done = False return self.state, reward, done, {}
def prepareSim(self): self.initializeFunctions() isTracking = sim.simxGetFloatSignal(self.clientID, 'isTracking', sim.simx_opmode_streaming)[1] while isTracking != 1: sim.simxSynchronousTrigger(self.clientID) isTracking = sim.simxGetFloatSignal(self.clientID, 'isTracking', sim.simx_opmode_buffer)[1] sim.simxGetPingTime(self.clientID) X, Y, Z = self.getKinectXYZ(True) actionX = X actionY = Y actionZ = Z # print(actionX,actionY,actionZ) # print('[DATA] X:{:.4f}, Y:{:.4f}, Z:{:.4f}'.format(actionX,actionY,actionZ)) sim.simxSetFloatSignal(self.clientID, 'actionX', actionX, sim.simx_opmode_oneshot) sim.simxSetFloatSignal(self.clientID, 'actionY', actionY, sim.simx_opmode_oneshot) sim.simxSetFloatSignal(self.clientID, 'actionZ', actionZ, sim.simx_opmode_oneshot) sim.simxGetPingTime(self.clientID)
def _step_simulation(self): """Шаг симуляции для режима синхронизации """ sim.simxSynchronousTrigger(self.client) sim.simxGetPingTime(self.client)
# #control_force = 400 if np.sign(control_force) >= 0: set_force = control_force set_velocity = 9999 else: set_force = -control_force set_velocity = -9999 # 控制命令需要同时方式,故暂停通信,用于存储所有控制命令一起发送 vrep.simxPauseCommunication(clientID, True) vrep.simxSetJointTargetVelocity(clientID, jointHandle, set_velocity, vrep.simx_opmode_oneshot) vrep.simxSetJointForce(clientID, jointHandle, set_force, vrep.simx_opmode_oneshot) #vrep.simxSetJointForce(clientID,jointHandle,set_force,vrep.simx_opmode_oneshot); # vrep.simxSetJointTargetPosition(clientID, jointHandle, 100, vrep.simx_opmode_oneshot) # vrep.simxSetJointTargetPosition(clientID, jointHandle[1], 5/RAD2DEG, vrep.simx_opmode_oneshot) # vrep.simxSetJointTargetVelocity(clientID, jointHandle[2], 500/RAD2DEG, vrep.simx_opmode_oneshot) # vrep.simxSetJointTargetVelocity(clientID, jointHandle[3], 500/RAD2DEG, vrep.simx_opmode_oneshot) vrep.simxPauseCommunication(clientID, False) # *** lastCmdTime = currCmdTime # 记录当前时间 vrep.simxSynchronousTrigger(clientID) # 进行下一步 vrep.simxGetPingTime(clientID) # 使得该仿真步走完
print(data_len) for i in range(data_len): UR5_sim_model.setJointAngle('UR5_joint3', desired_q[i, 0]) UR5_sim_model.setJointAngle('UR5_joint4', desired_q[i, 1]) UR5_sim_model.setJointAngle('UR5_joint5', desired_q[i, 2]) desired_q1_record.append(desired_q[i, 0]) desired_q2_record.append(desired_q[i, 1]) desired_q3_record.append(desired_q[i, 2]) q = UR5_sim_model.getAllJointAngles() current_q1_record.append(q[2]) current_q2_record.append(q[3]) current_q3_record.append(q[4]) vrep_sim.simxSynchronousTrigger( client_ID) # trigger one simulation step vrep_sim.simxStopSimulation( client_ID, vrep_sim.simx_opmode_blocking) # stop the simulation vrep_sim.simxFinish(-1) # Close the connection print('Program terminated') plt.figure(figsize=(10, 5)) plt.plot(desired_q1_record, 'g', label='desired q 1') plt.plot(current_q1_record, 'r--', label='current q 1') plt.plot(desired_q2_record, 'b', label='desired q 2') plt.plot(current_q2_record, 'm--', label='current q 2') plt.plot(desired_q3_record, 'k', label='desired q 3') plt.plot(current_q3_record, 'y--', label='current q 3') plt.legend() plt.grid()
_,MotorHandle_Right = sim.simxGetObjectHandle(clientID,'Revolute_right',sim.simx_opmode_blocking) _,TCP = sim.simxGetObjectHandle(clientID,'TCP',sim.simx_opmode_blocking) #_, baseHandle = sim.simxGetObjectHandle(clientID, 'CarBody', sim.simx_opmode_blocking) print('Handles Found!') # read the initial value of joints jointConfig = np.zeros((jointNum,)) for i in range(jointNum): _, jpos = sim.simxGetJointPosition(clientID, jointHandle[i], sim.simx_opmode_streaming) jointConfig[i] = jpos lastCmdTime=sim.simxGetLastCmdTime(clientID) # record the current time sim.simxSynchronousTrigger(clientID) #iii = 0 #loop index #increase_flag = 0 # trigger the sim while sim.simxGetConnectionId(clientID) != -1: currCmdTime=sim.simxGetLastCmdTime(clientID) dt = currCmdTime - lastCmdTime # delta time # read the current status of joints for every step for i in range(jointNum): _, jpos = sim.simxGetJointPosition(clientID, jointHandle[i], sim.simx_opmode_buffer) # print(round(jpos * 180 / math.pi, 2)) jointConfig[i] = jpos _,MotorHandle_Left = sim.simxGetObjectHandle(clientID,'Revolute_left',sim.simx_opmode_blocking)
def main(argv): # https://www.coppeliarobotics.com/helpFiles/en/remoteApiClientSide.htm --> how to remote API # Refer to https://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm#simxStart sim.simxFinish(-1) # just in case, close all opened connections clientID = sim.simxStart('127.0.0.1', 19997, True, True, 5000, 5) if clientID == -1: print('Failed connecting to remote API server') else: print('Connected to remote API client') numberOfRuns = 10 numberOfMeasurements = 1 variationSize = 0.001 for i in range(numberOfRuns): count = 0 dt = 0.0167 sim.simxSynchronous(clientID, True) ################################################### init variables ################################################### ros_handle = simROS.SIMROS(argv) targetAngle = 0 #targetAngles = list(np.random.randint(-25, 26, numberOfMeasurements)) targetAngles = list(np.zeros(numberOfMeasurements)) print(targetAngles) randomVar = [] for i in range(18): randomVar.append( list( np.random.uniform(-variationSize, variationSize, numberOfMeasurements))) if newFile: with open(dataFilePath, 'w+') as myfile: wr = csv.writer(myfile, quoting=csv.QUOTE_ALL) wr.writerow([ "Inclination", "LFx", "LFy", "LFz", "LMx", "LMy", "LMz", "LHx", "LHy", "LHz", "RFx", "RFy", "RFz", "RMx", "RMy", "RMz", "RHx", "RHy", "RHz" ]) counter = 0 Done = False #Start the simulation sim.simxStartSimulation(clientID, sim.simx_opmode_blocking) ################################################### Control Loop ################################################### while not Done: #code here #print(sim.simxReadForceSensor(clientID, "3D_force0", sim.simx_opmode_blocking)) if counter == 150: saveData(force, targetAngle) print("Runs remaining: ", len(targetAngles)) if len(targetAngles) <= 0: Done = True else: targetAngle = targetAngles.pop(0) motor_positions = [ 0, randomVar[1].pop() + 2.059, randomVar[2].pop(), 0, randomVar[4].pop() + 2.059, randomVar[5].pop(), 0, randomVar[7].pop() + 2.059, randomVar[8].pop(), 0, randomVar[10].pop() + 2.059, randomVar[11].pop(), 0, randomVar[13].pop() + 2.059, randomVar[14].pop(), 0, randomVar[16].pop() + 2.059, randomVar[17].pop() ] counter = 0 ros_handle.setSlopeAngle(targetAngle) ros_handle.setLegMotorPosition(motor_positions) counter = counter + 1 #Step the simulation sim.simxSynchronousTrigger(clientID) sim.simxStopSimulation(clientID, sim.simx_opmode_blocking) sim.simxGetPingTime(clientID) sim.simxFinish(clientID)
def _simulation_step(self): #for _ in range(self.n_substeps): sim.simxSynchronousTrigger(self.clientID) sim.simxGetPingTime(self.clientID)
sim.simxFinish(-1) clientID = sim.simxStart('127.0.0.1', 19997, True, True, 5000, 5) print("Connection success") if clientID!=-1: print ('Connected to remote API server') res,left_motor = sim.simxGetObjectHandle(clientID, "left_motor", sim.simx_opmode_oneshot_wait) sim.simxSynchronous(clientID,1)# -啟用同步模式(客戶端)。服務器端(即CoppeliaSim)也需要啟用。 sim.simxStartSimulation(clientID,sim.simx_opmode_oneshot)# //開始仿真 sim.simxSetJointForce(clientID,left_motor,1.0f,sim.simx_opmode_oneshot);#//設置聯合力/扭矩 sim.simxSetJointTargetVelocity(clientID,left_motor,180.0f * 3.1415f / 180.0f,sim.simx_opmode_oneshot)# //設置聯合目標速度 sim.simxSynchronousTrigger(clientID);#//觸發下一個模擬步驟。上面的命令將被應用 sim.simxSetJointForce(clientID,left_motor,0.5f,sim.simx_opmode_oneshot)# //設置聯合力/扭矩 sim.simxSetJointTargetVelocity(clientID,left_motor,180.0f * 3.1415f / 180.0f,sim.simx_opmode_oneshot)# //設置聯合目標速度 sim.simxSynchronousTrigger(clientID)# //下一個模擬步驟執行。上面的命令將被應用 sim.simxSetJointForce(clientID,left_motor,2.0f,sim.simx_opmode_oneshot)# //設置聯合力/扭矩 sim.simxSetJointTargetVelocity(clientID,left_motor,180.0f * 3.1415f / 180.0f,sim.simx_opmode_oneshot)# //設置關節目標速度
sys.exit("Error: no se puede conectar") #Terminar este script except: print('Check if CoppeliaSim is open') UR3_joints_IP=get_joint_handle(clientID) #Getting the reference for i in UR3_joints_IP: UR3_joints_IP[i].append(get_joint_orientation(clientID, UR3_joints_IP[i][0])) #print(get_joint_orientation(clientID, UR3_joints_IP[i])) #J1z,J2z,J3Z #Practica 30 grados j1, 15 grados j2, 30 grados j3, 20 grados j4, 15 grados j5, 10 grados j6 new_angles=[60,25,10,30,15,50] c=0 sim.simxSynchronous(clientID,True) sim.simxSynchronousTrigger(clientID) sim.simxStartSimulation(clientID, sim.simx_opmode_blocking) for i in UR3_joints_IP: set_joint_orientation(clientID, UR3_joints_IP[i][0],new_angles[c], mode=sim.simx_opmode_blocking) #Todas las juntas posicion inicial c=c+1 time.sleep(5) sim.simxStopSimulation(clientID, sim.simx_opmode_blocking) sim.simxFinish(clientID)
# Start simulation sim.simxSynchronous(client_id, True) sim.simxStartSimulation(client_id, sim.simx_opmode_blocking) # Initial and final locations start = (2, -3, -0 * math.pi / 2) goal = (4, 4) # Create the robot _, robot_handle = create_robot(client_id, start[0], start[1], start[2]) sim.simxGetObjectPosition( client_id, robot_handle, -1, sim.simx_opmode_streaming) # Initialize real position streaming # Execute a simulation step to get initial sensor readings sim.simxSynchronousTrigger(client_id) sim.simxGetPingTime( client_id) # Make sure the simulation step has finished # Write initialization code here dt = 0.05 steps = 0 robot = RobotP3DX(client_id, dt) z_us, z_v, z_w = robot.sense() navigation = Navigation(dt, z_us) localized = False #particle filter m = Map('map_project.json', sensor_range=robot.SENSOR_RANGE, compiled_intersect=True,