def reset(self):
super(StandingUpEnvironment, self).reset()
# print('*** Reset ***')
vrep.simxStopSimulation(self.client_id, self.opmode)
vrep.simxCloseScene(self.client_id, self.opmode)
vrep.simxLoadScene(self.client_id, self.model_path, 0, self.opmode)
vrep.simxSynchronous(self.client_id, True)
vrep.simxStartSimulation(self.client_id, self.opmode)
self.bioloid = Bioloid(self.client_id)
def close(self):
self.__stop()
if self.IS_RECORD:
self.__move()
if self.IS_BOOT:
vrep.simxFinish(self.__ID)
os.killpg(os.getpgid(self.vrepProcess.pid), signal.SIGTERM)
self.vrepProcess.wait()
print("Enviornment was closed")
else:
vrep.simxCloseScene(self.__ID, vrep.simx_opmode_blocking)
vrep.simxFinish(self.__ID)
print("Scene was closed")
time.sleep(5) # just in case (must in linux?)
def finishSimulation(clientID):
errorStop=vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)
errorClose=vrep.simxCloseScene(clientID,vrep.simx_opmode_oneshot_wait)
error=errorStop or errorClose
errorFinish=vrep.simxFinish(clientID)
error=error or errorFinish
return error
def finishSimulation(self, clientID):
self.getObjectPositionFirstTime = True
errorStop=vrep.simxStopSimulation(clientID,vrep.simx_opmode_oneshot_wait)
errorClose=vrep.simxCloseScene(clientID,vrep.simx_opmode_oneshot_wait)
error=errorStop or errorClose
errorFinish=vrep.simxFinish(clientID)
error=error or errorFinish
return error
print("distance to goal:", distanceToGoal)
# reward =
#checkGoalReached
if distanceToGoal < minDistance: goalReached = True
time.sleep(0.1)
#end of execution loop
# stop simulation
returnCode = vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
printlog('simxStopSimulation', returnCode)
running = True
while running:
returnCode, ping = vrep.simxGetPingTime(clientID)
returnCode, serverState = vrep.simxGetInMessageInfo(
clientID, vrep.simx_headeroffset_server_state)
running = serverState
returnCode = vrep.simxCloseScene(clientID, vrep.simx_opmode_blocking)
printlog('simxCloseScene', returnCode)
vrep.simxFinish(clientID)
#close v-rep
# vrepProcess.terminate()
# vrepProcess.kill()
os.killpg(os.getpgid(vrepProcess.pid), signal.SIGTERM)
print('Mico Arm Program ended')
def close_scene(self):
if not self.scene_loaded:
raise RuntimeError('Scene is not loaded')
vrep.simxCloseScene(self.client_id, self.modes['blocking'])
self.scene_loaded = False
def loadScene():
vrep.simxCloseScene(0, vrep.simx_opmode_oneshot)
print ("loading scene")
if vrep.simxLoadScene(0, "/home/tutu/projects/ia/2wheel1arm/test/2w1a.ttt", 0, vrep.simx_opmode_blocking) < 0:
raise Exception("cannot load scene")
def close_scene(self):
if not self.scene_loaded:
raise RuntimeError('Scene is not loaded.')
self.RAPI_rc(vrep.simxCloseScene(self.cID, vrep.simx_opmode_blocking))
self.scene_loaded = False
