def __init__(self):
self._low_degrees_bound = 0
self._low_radians_bound = 0
self._high_degrees_bound = 180
self._high_radians_bound = np.pi
# Get client id from the V-REP server-side
vrep.simxFinish(-1)
self.conn_handler = vrep.simxStart('127.0.0.1', 19999, True, True,
5000, 5)
if self.conn_handler == -1:
print('Failed connecting to the remote API server')
return -1
print('Succesfully connected to the remote API server...')
# Get UARM entity
# Implemented it in the dict style for future purposes
# (if there're several robots in the env, call them like
# env.robot['uarm'], env.robot['universal_robotics'], etc)
uarm = UARM(self.conn_handler)
self.robot = {'uarm': uarm}
# Get cameras from V-REP
# vs_0 - global view,
# vs_1 - details basket,
# vs_2 - destination basket,
self.camera_handlers = []
for i in range(3):
err, handler = vrep.simxGetObjectHandle(
self.conn_handler, 'vs_' + str(i),
vrep.simx_opmode_oneshot_wait)
if err == vrep.simx_return_ok:
self.camera_handlers.append(handler)
else:
print('Error getting camera handlers, ERR:', err)
return
def connectVrep():
global CLIENT_ID
CLIENT_ID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if CLIENT_ID != -1:
print "Connected to V-Rep Server"
else:
print "Connection Failed"
sys.exit()
def connect_to_vrep():
vrep.simxFinish(-1) # just in case, close all opened connections
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
if clientID == -1:
print('Failed connecting to V-REP remote API server.')
exit()
else:
vrep.simxSynchronous(clientID, True)
return clientID
def connect_to_vrep(port=19997):
clientID = vrep.simxStart('127.0.0.1', port, True, True, 5000,
5) # Connect to V-REP
if clientID == -1:
print('Failed connecting to V-REP remote API server.')
exit()
else:
vrep.simxSynchronous(clientID, True)
return clientID
def connectVrep():
global CLIENT_ID
CLIENT_ID= vrep.simxStart('127.0.0.1',19999,True,True,5000,5)
if CLIENT_ID!=-1:
print "Connected to V-Rep Server"
res,objs = vrep.simxGetObjects(CLIENT_ID,vrep.sim_handle_all,vrep.simx_opmode_oneshot_wait)
if res == vrep.simx_return_ok:
print "No. of Objects = ",len(objs)
else:
print "Connection Failed"
sys.exit()
def _start_communication(self,
ip,
port,
wait_until_start_communicationed=True,
do_not_reconnect_once_disconnected=False,
time_out_in_ms=15000,
comm_thread_cycle_in_ms=5):
"""Requests a communication pipe with the simulator."""
clientID = vrep.simxStart(ip, port, wait_until_start_communicationed,
do_not_reconnect_once_disconnected,
time_out_in_ms, comm_thread_cycle_in_ms)
return clientID if clientID != -1 else None
def start_sim(self):
"""
Function to start the simulation. The scene must be running before running this code.
Returns:
clientID: This ID is used to start the objects on the scene.
"""
vrep.simxFinish(-1)
clientID = vrep.simxStart(self.SERVER_IP, self.SERVER_PORT, True, True, 2000, 5)
if clientID != -1:
print("Connected to remoteApi server.")
else:
vrep.simxFinish(clientID)
sys.exit("\033[91m ERROR: Unable to connect to remoteApi server. Consider running scene before executing script.")
return clientID
def __init__(self):
self.jointNames = {
1: 'j_shoulder_r',
2: 'j_shoulder_l',
3: 'j_high_arm_r',
4: 'j_high_arm_l',
5: 'j_low_arm_r',
6: 'j_low_arm_l',
7: 'j_pelvis_r',
8: 'j_pelvis_l',
9: 'j_thigh1_r',
10: 'j_thigh1_l',
11: 'j_thigh2_r',
12: 'j_thigh2_l',
13: 'j_tibia_r',
14: 'j_tibia_l',
15: 'j_ankle1_r',
16: 'j_ankle1_l',
17: 'j_ankle2_r',
18: 'j_ankle2_l',
19: 'j_pan',
20: 'j_tilt'
}
self.objectnames = [
'MP_BODY_respondable', 'MP_NECK_respondable', 'MP_HEAD_respondable'
]
self.MOTOR_HANDLES = {}
self.OBJECT_HANDLES = []
self.CLIENT_ID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000,
5)
#vrep.simxPauseSimulation(self.CLIENT_ID,True)
if CLIENT_ID != -1:
print "Connected to V-Rep Server"
self.get_handles()
else:
print "Connection Failed"
sys.exit()
