def __init__(self, headless=False):
self.venv = venv = vrepper(headless=headless)
venv.start()
time.sleep(0.1)
file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'Sarah_vortex_CPG.ttt')
print(file_path)
venv.load_scene(file_path)
time.sleep(0.1)
# Pressure Sensors
self.L_Force_Front = venv.get_object_by_name('L_Force_F')
self.L_Force_Back = venv.get_object_by_name('L_Force_B')
self.R_Force_Front = venv.get_object_by_name('R_Force_F')
self.R_Force_Back = venv.get_object_by_name('R_Force_B')
# Angle Sensors / Actuators
self.L_Abduction = venv.get_object_by_name('L_Abduction')
self.R_Abduction = venv.get_object_by_name('R_Abduction')
self.L_Hip_Angle = venv.get_object_by_name('L_Hip_Angle')
self.R_Hip_Angle = venv.get_object_by_name('R_Hip_Angle')
self.L_Linear = venv.get_object_by_name('L_Hip_Linear')
self.R_Linear = venv.get_object_by_name('R_Hip_Linear')
# Structural Components
self.Center = venv.get_object_by_name('Central_Addon')
print('(CartPoleVREP) initialized')
obs = np.array([np.inf] * 16)
act = np.array([1.] * 3)
self.seed()
self.action_space = spaces.Box(-act, act)
self.observation_space = spaces.Box(-obs, obs)
self.Frequency = 0
self.Center_mass = 0
self.observation = 0
self.parameters = 0
self.Time = 0
import os
import numpy as np
import time
import matplotlib.pyplot as plt
from vrepper.core import vrepper
# create a vrepper object using the following command:
# dir_vrep is the path to vrep directory.
# port_num denotes the port on which to start vrep(if port_num=None then a random port will be assigned)
venv = vrepper(dir_vrep='/home/nikhil/V-REP_PRO_EDU_V3_5_0_Linux/',
headless=True)
# Start a V-REP instance
venv.start()
current_dir = os.path.dirname(os.path.realpath(__file__))
# To load a scene after creating V-REP instance:
venv.load_scene(current_dir + '/scenes/bubbleRob.ttt')
# To start simulation in realtime moe
# Set is_sync=True, to enables the synchronous operation mode for the remote API server service that the client is connected to
venv.start_simulation(is_sync=False)
l_motor = venv.get_object_by_name("bubbleRob_leftMotor", is_joint=True)
r_motor = venv.get_object_by_name("bubbleRob_rightMotor", is_joint=True)
ps = venv.get_object_by_name("bubbleRob_sensingNose", is_joint=False)
err_code, detectionState, detectedPoint, detectedObjectHandle, detectedSurfaceNormalVector = ps.read_proximity_sensor(
is_first_time=True)
import os, math, time
from vrepper import core
# sorry but that's how the namespace works
venv = core.vrepper(headless=True, emulate_framebuffer=True)
venv.start()
# load scene
venv.load_scene(os.getcwd() + '/scenes/body_joint_wheel.ttt')
body = venv.get_object_by_name('body')
wheel = venv.get_object_by_name('wheel')
joint = venv.get_object_by_name('joint')
print(body.handle, wheel.handle, joint.handle)
for j in range(5):
venv.start_blocking_simulation()
for i in range(20):
print('simulation step', i)
print('body position', body.get_position())
print('wheel orientation', wheel.get_orientation())
joint.set_velocity(10 * math.sin(i / 5))
# you should see things moving back and forth
venv.step_blocking_simulation() # forward 1 timestep
# stop the simulation and reset the scene:
venv.stop_simulation()
### This demo is using the Poppy Ergo Jr. robotic arm.
### We've developed this arm at INRIA Bordeaux.
### It's a cheap open source arm, i.e. you can just make it yourself.
### We also sell the parts online in a pack for around 300$.
import os
import numpy as np
import time
import matplotlib.pyplot as plt
from vrepper.core import vrepper
venv = vrepper(headless=True)
venv.start()
current_dir = os.path.dirname(os.path.realpath(__file__))
venv.load_scene(current_dir + '/scenes/poppy_ergo_jr.ttt')
motors = []
for i in range(6):
motor = venv.get_object_by_name('m{}'.format(i + 1), is_joint=True)
motors.append(motor)
cam = venv.get_object_by_name("cam")
venv.start_simulation(
is_sync=False) # start in realtime mode to set initial position
def set_motors(positions, speeds=None):
for i, m in enumerate(motors):
target = positions[i]
if i == 0: # first joint is inverted in simulation
import os,math,time
from vrepper import core
# sorry but that's how the namespace works
venv = core.vrepper(headless=True)
venv.start()
# load scene
venv.load_scene(os.getcwd() + '/scenes/body_joint_wheel.ttt')
body = venv.get_object_by_name('body')
wheel = venv.get_object_by_name('wheel')
joint = venv.get_object_by_name('joint')
print(body.handle,wheel.handle,joint.handle)
for j in range(5):
venv.start_blocking_simulation()
for i in range(20):
print('simulation step',i)
print('body position',body.get_position())
print('wheel orientation',wheel.get_orientation())
joint.set_velocity(10 * math.sin(i/5))
# you should see things moving back and forth
venv.step_blocking_simulation() # forward 1 timestep
# stop the simulation and reset the scene:
venv.stop_blocking_simulation()