def get_session(n_epucks=1, use_proximeters=[2, 3], old_simulator=None, old_epuck=None): if old_simulator is not None: old_simulator.stop() old_simulator.io.close() del old_simulator if old_epuck is not None: old_epuck.stop() old_epuck.io.close() del old_epuck sleep(0.1) close_all_connections() sleep(0.1) close_all_connections() sleep(0.1) simulator = Simulator() simulator.io.restart_simulation() epucks = [ simulator.get_epuck(use_proximeters=use_proximeters) for _ in range(n_epucks) ] if n_epucks == 1: return simulator, epucks[0] else: return [simulator] + epucks
def close_session(simulator, *epucks): simulator.close() for e in epucks: e.close() del e del simulator sleep(0.1) close_all_connections()
def close_session(simulator, *epucks): if len(epucks) == 0: epucks = simulator.robots simulator.close() for e in epucks: e.close() del e del simulator sleep(0.1) close_all_connections()
def main(): x_home = [0.060175, -0.0049936, 0.31573] q_home = [0, 0, 0, 0, 0] robot = from_vrep(scene='../model_1/luxo_1_kinematic.ttt', config='../model_1/config_luxo_1.json') robot.stop_simulation() robot._controllers[0].io.call_remote_api('simxCloseScene') close_all_connections() # robot = { # "motors":{ # "foot":{ # "id":12, # "orientation":"direct", # "type":"AX-12", # "offset":0.0 # }, # "body_bottom":{ # "id":13, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-90.0, 90.0], # "offset":0.0 # }, # "body_middle":{ # "id":14, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-130.0, 130.0], # "offset":0.0 # }, # "body_top":{ # "id":15, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-130.0, 130.0], # "offset":0.0 # }, # "head":{ # "id":16, # "orientation":"direct", # "type":"AX-12", # "offset":0.0 # } # } # } f = VrepDirectFunctionWoPypot(robot) g = PolynomialModel(3, 5, 4, q_home) trainer = GoalBabblingTrainer(g, f, q_home, x_home, '../model_1/luxo_1_data_20_5.json') trainer.train(200, 4, 0.05)
def main(): x_home = [0.060175, -0.0049936, 0.31573] q_home = [0, 0, 0, 0, 0] robot = from_vrep(scene = '../model_1/luxo_1_kinematic.ttt', config = '../model_1/config_luxo_1.json' ) robot.stop_simulation() robot._controllers[0].io.call_remote_api('simxCloseScene') close_all_connections() # robot = { # "motors":{ # "foot":{ # "id":12, # "orientation":"direct", # "type":"AX-12", # "offset":0.0 # }, # "body_bottom":{ # "id":13, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-90.0, 90.0], # "offset":0.0 # }, # "body_middle":{ # "id":14, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-130.0, 130.0], # "offset":0.0 # }, # "body_top":{ # "id":15, # "orientation":"direct", # "type":"AX-12", # "angle_limit":[-130.0, 130.0], # "offset":0.0 # }, # "head":{ # "id":16, # "orientation":"direct", # "type":"AX-12", # "offset":0.0 # } # } # } f = VrepDirectFunctionWoPypot(robot) g = PolynomialModel(3,5,4,q_home) trainer = GoalBabblingTrainer(g,f,q_home,x_home, '../model_1/luxo_1_data_20_5.json') trainer.train(200,4,0.05)
def __init__(self): vrep.close_all_connections() self.poppy = PoppyHumanoid(simulator='vrep') self.waitTime() #self.vrep_io = VrepIO(vrep_port=port, start=True) #self.vrep_io.load_scene("thing.ttt") #self.vrep_io.start_simulation() self.poppy_head_pos = [] self.next_update = .2 self.last_update = time()
def get_session(n_epucks=1, use_proximeters=[2, 3], old_simulator=None, old_epuck=None): if old_simulator is not None: old_simulator.stop() old_simulator.io.close() del old_simulator if old_epuck is not None: old_epuck.stop() old_epuck.io.close() del old_epuck sleep(0.1) close_all_connections() sleep(0.1) close_all_connections() sleep(0.1) simulator = Simulator() simulator.io.restart_simulation() epucks = [simulator.get_epuck(use_proximeters=use_proximeters) for _ in range(n_epucks)] if n_epucks == 1: return simulator, epucks[0] else: return [simulator] + epucks
def close(): close_all_connections()
''' # Import libraries from pypot.vrep import from_vrep, close_all_connections from pypot.robot import from_config import time import numpy as np import itertools import random import pypot.dynamixel # if in the vrep env vrep = False if vrep: close_all_connections() poppy = from_vrep('poppy.json', scene='experiment.ttt') #initial motor angle if vrep: arm_theta1 = 0 arm_theta2 = 0 arm_theta3 = -10 for m in poppy.motors: if m.id == 41: motor_41 = m if m.id == 42: motor_42 = m if m.id == 44: motor_44 = m else: