class SimulatedLucy(Lucy):
def __init__(self, visible=False):
Lucy.__init__(self)
self.visible = visible
genetic_bioloid = os.getcwd() + self.sysConf.getFile("Lucy vrep model")
self.sim = Simulator(genetic_bioloid)
self.clientID = self.sim.getClientId()
if self.clientID == -1:
retry_counter = sysConstants.ERROR_RETRY
time.sleep(0.1)
self.clientID = self.sim.getClientId()
while self.clientID == -1 and retry_counter > 0:
time.sleep(0.5)
retry_counter = retry_counter - 1
self.clientID = self.sim.getClientId()
print "waiting for vrep connection"
if self.clientID == -1:
raise VrepException("error connecting with Vrep", -1)
self.sim.startSim(self.clientID,self.visible)
self.jointHandleCachePopulated = False
configuration = LoadRobotConfiguration()
self.joints = configuration.getJointsName()
self.firstCallGetFrame = True
self.sim.robotOrientationToGoal()
self.updateLucyPosition()
self.posesExecutedByStepQty = self.sim.getPosesExecutedByStepQty(self.clientID)
def getSimTime(self):
if self.stop == False:
self.time = time.time() - self.startTime
return self.time
def getSimDistance(self):
return self.distance
def getFitness(self, secuenceLength, concatenationGap):
error, angle = self.sim.robotOrientationToGoal()
distance = self.getSimDistance()
error, upD = self.sim.getUpDistance()
framesQty = secuenceLength
cycleEnded = 0
print "--------------------------------------------------------------------"
print "orientation: ", angle
print "distance traveled: ", distance
print "poses executed/total poses: ", self.poseExecuted, "/", framesQty
if self.isLucyUp():
print "isRobotUp?: True"
cycleEnded = 1
framesExecuted = 1
endCycleBalance = upD/self.balanceHeight #Distance from the floor when lucy is straight up
if endCycleBalance > 1:
endCycleBalance = 1
else:
print "isRobotUp?: False"
if framesQty > 0:
framesExecuted = self.poseExecuted / float(framesQty)
if framesExecuted == 1:
framesExecuted = framesExecuted - framesExecuted/10
else:
framesExecuted = 0
endCycleBalance = 0
dtFitness = DTFitness(distance, concatenationGap, framesExecuted, endCycleBalance, angle)
fitnessFunction = DistanceConcatenationgapFramesexecutedEndcyclebalanceAngle(dtFitness)
#dtFitness = DTFitness(distance=distance, concatenationGap=concatenationGap, framesExecuted=framesExecuted, angle=angle, cycleEnded=cycleEnded)
#fitnessFunction = NormdistanceConcatenationgapFramesexecutedNormAngle(dtFitness)
#fitnessFunction = ConcatenationgapFramesexecutedNormAngle(dtFitness)
fitness = fitnessFunction.getFitness()
print "framesExecuted: ", framesExecuted
print "FITNESS: ", fitness
print "upDistance: ", self.sim.getUpDistance()
print "endCycleBalance: ", endCycleBalance
print "--------------------------------------------------------------------"
return fitness
def getPosesExecutedByStepQty(self):
return self.posesExecutedByStepQty
def executePose(self, pose):
error = False
#Above's N joints will be received and set on the V-REP side at the same time
jointsQty = len(self.RobotImplementedJoints)
jointExecutedCounter = 0
error = self.sim.pauseSim(self.clientID) or error
for joint in self.RobotImplementedJoints:
angle = pose.getValue(joint)
angleAX = AXAngle()
angleAX.setDegreeValue(angle)
#print "setting joint: ", joint, " to value: ", angle
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angleAX.toVrep()) or error
else:
###self.moveHelperArm()
error = self.sim.resumePauseSim(self.clientID) or error
error = self.sim.setJointPosition(self.clientID, joint, angleAX.toVrep()) or error
jointExecutedCounter += 1
self.updateLucyPosition()
self.poseExecuted = self.poseExecuted + self.getPosesExecutedByStepQty()
#if error:
# raise VrepException("error excecuting a pose", error)
def executeRawPose(self, pose):
error = False
#Above's N joints will be received and set on the V-REP side at the same time
jointsQty = len(self.RobotImplementedJoints)
jointExecutedCounter=0
error = self.sim.pauseSim(self.clientID) or error
for joint in self.RobotImplementedJoints:
angle = pose.getValue(joint)
#print "setting joint: ", joint, " to value: ", angle
if jointExecutedCounter < jointsQty - 1:
error = self.sim.setJointPositionNonBlock(self.clientID, joint, angle) or error
else:
error = self.sim.resumePauseSim(self.clientID) or error
error = self.sim.setJointPosition(self.clientID, joint, angle) or error
jointExecutedCounter += 1
self.updateLucyPosition()
print "distance traveled: ", self.distance
self.poseExecuted = self.poseExecuted + self.getPosesExecutedByStepQty()
def getFrame(self):
error = False
pose = {}
dontSupportedJoints = self.sysConf.getVrepNotImplementedBioloidJoints()
if (self.jointHandleCachePopulated == False):
self.sim.populateJointHandleCache(self.clientID)
self.jointHandleCachePopulated = True
error = self.sim.pauseSim(self.clientID) or error
for joint in self.joints:
if joint not in dontSupportedJoints: #actual model of vrep bioloid don't support this joints
errorGetJoint, value = self.sim.getJointPositionNonBlock(self.clientID, joint, self.firstCallGetFrame)
error = error or errorGetJoint
pose[joint] = 150 - value * 60
self.firstCallGetFrame = False
error = self.sim.resumePauseSim(self.clientID) or error
#if error:
# raise VrepException("error geting a frame", error)
return error, pose
def angle(self,v):
if v.imag >=0:
resAngle = angle(v, True) #angle second argument is for operate with degrees instead of radians
else:
resAngle = 180+angle(-v, True) #angle second argument is for operate with degrees instead of radians
return resAngle
def updateLucyPosition(self):
if self.stop == False:
self.time = time.time() - self.startTime
error, distToGoal = self.sim.getDistanceToSceneGoal()
if not error:
distTravelToGoal = 1.0 - distToGoal
if distTravelToGoal < 0:
self.distance = 0
else:
self.distance = distTravelToGoal
else:
print "*****************************************ERROR CALCULATING DIST TO GOAL IN Lucy:updateLucyPosition"
def stopLucy(self):
self.stop = True
self.updateLucyPosition()
self.sim.finishSimulation(self.clientID)
def isLucyUp(self):
error, up = self.sim.isRobotUp(self.clientID)
if error:
#raise VrepException("error consulting if lucy is up", error)
return False
return up
def moveHelperArm(self):
error = False
armDistanceStep = self.distance - self.distanceBeforMoveArmLastCall
if armDistanceStep > 0:
self.armDistance = self.armDistance + armDistanceStep
#error = self.sim.pauseSim(self.clientID) or error
error = self.sim.moveHelperArm(armDistanceStep) or error
#error = self.sim.resumePauseSim(self.clientID) or error
self.distanceBeforMoveArmLastCall = self.distance
return error
