def reset(self):
# 시물레이션 종료, 재시작
vrep.simxSynchronous(self.vrep_client_id,True)
print("ENV reset")
vrep.simxStopSimulation(clientID=self.vrep_client_id,operationMode=vrep.simx_opmode_blocking)
print('sim stopped')
time.sleep(0.5)
self.streaming()
# 골넘버 초기화
global goal_number
goal_number = 0
vrep.simxStartSimulation(clientID=self.vrep_client_id,operationMode=vrep.simx_opmode_blocking)
print('sim started')
time.sleep(0.2)
# 골 거리 초기화
self.goal_distance_calculate()
vrep.simxSynchronousTrigger(self.vrep_client_id)
vrep.simxSynchronousTrigger(self.vrep_client_id)
vrep.simxSynchronousTrigger(self.vrep_client_id)
vrep.simxSynchronousTrigger(self.vrep_client_id)
time.sleep(1)
# 라이다 데이터 수집
self.getMinLidarData()
return True
from api import vrep
import sys
import time
import math
try:
vrep.simxFinish(-1) # just in case, close all opened connections
except:
pass
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
if clientID != -1:
print("Connected to remote API server")
vrep.simxStopSimulation(clientID, operationMode=vrep.simx_opmode_blocking)
_, handle = vrep.simxGetObjectHandle(clientID, 'dualarm_mobile',
vrep.simx_opmode_blocking)
time.sleep(1)
vrep.simxSetObjectPosition(clientID, handle, -1, [0.0, 0.0, 0.1],
vrep.simx_opmode_blocking)
time.sleep(1)
vrep.simxSetObjectOrientation(clientID, handle, -1,
[math.pi, math.pi / 2, 0.0],
vrep.simx_opmode_blocking)
time.sleep(1)
#vrep.simxFinish(clientID)
#time.sleep(1)
clientID=vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
if clientID != -1:
print('Connected to remote API server')
# enable the synchronous mode on the client:
vrep.simxSynchronous(clientID, True)
# start the simulation:
vrep.simxStartSimulation(clientID,vrep.simx_opmode_blocking)
vrep.simxSynchronousTrigger(clientID) # skip first timestep. LiDAR returns zero-size array at first timestep
# get LiDAR measurement
vrep.simxSynchronousTrigger(clientID)
e, lrf = readLiDAR(clientID, 'measurement', opmode_blocking)
# plot measurement
theta = np.linspace(0, 2*np.pi, len(lrf))
polarplot = plt.polar(theta, lrf)
plt.show(polarplot)
# stop the simulation:
vrep.simxStopSimulation(clientID,vrep.simx_opmode_blocking)
# Now close the connection to V-REP:
vrep.simxFinish(clientID)
else:
print ('Failed connecting to remote API server')
print ('Program ended')