def conect_and_load(port, ip):
sim.simxFinish(-1) # just in case, close all opened connections
clientID = sim.simxStart(ip,port,True,True,5000,5) # Connect to CoppeliaSim
scene_path = os.path.join('vrep_scene', 'hexapod_scene.ttt')
print('-'*5, 'Scene path:', scene_path, '-'*5)
sim.simxLoadScene(clientID, scene_path, 0xFF, sim.simx_opmode_blocking)
return clientID
def conect_and_load(port, ip):
clientID = sim.simxStart(ip, port, True, True, 5000,
5) # Connect to CoppeliaSim
scene_path = os.path.join('vrep-scene', 'poppy_two_target_pos_z.ttt')
print('-' * 5, 'Scene path:', scene_path, '-' * 5)
sim.simxLoadScene(clientID, scene_path, 0xFF, sim.simx_opmode_blocking)
return clientID
def startvrep():
global clientID2
sim.simxFinish(-1) # just in case, close all opened connections
clientID = sim.simxStart(flask_ip, vrep_port, True, True, 5000,
5) # Get the client ID
clientID2 = sim.simxStart(flask_ip, vrep_port2, True, True, 5000, 5)
res = sim.simxLoadScene(clientID, scene_path, 0, sim.simx_opmode_blocking)
x = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot_wait)
if clientID != -1 or clientID2 != -1: #check if client connection successful
print('Connected to remote API server')
else:
print('Connection not successful')
sys.exit('Could not connect')
# Initialize car control object
AirHockey = air_Hockey(clientID)
#for i in range(150):
while True:
# Start time for image process
err, img = AirHockey.get_image()
ret, jpeg = cv2.imencode('.jpg', img)
#jpeg.tobytes()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + jpeg.tobytes() + b'\r\n')
return "startvrep"
def load_scene(self, scene_path_and_filename):
"""
remotely load the scene in client from file located at evo_master
"""
ret = sim.simxLoadScene(self.clientID, scene_path_and_filename, 1,
mode2)
return ret
def inputxmlfile(self):
#number returnCode=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode)
sim.simxLoadScene(
self.clientID,
"I:\fall2020_v2\data\home\Desktop\40723103\Coppeliasim model.ttt",
0xFF, sim.simx_opmode_blocking)
'''
# relative to remote API client location, relative path:
sim.simxLoadScene(clientID,'test/testScene.ttt',0xFF,vrep.simx_opmode_blocking)
# relative to V-REP executable location, relative path:
sim.simxLoadScene(clientID,'scenes/collisionDetectionDemo.ttt',0x00,vrep.simx_opmode_blocking)
# relative to remote API client location, absolute path:
sim.simxLoadScene(clientID,'c:/python27/test/testScene.ttt',0xFF,vrep.simx_opmode_blocking)
# relative to V-REP executable location, absolute path:
sim.simxLoadScene(clientID,'d:/v_rep/qrelease/release/scenes/collisionDetectionDemo.ttt',0x00,vrep.simx_opmode_blocking)
'''
print("successful input file")
def loadScene():
global client
if client is None:
return "-1"
scene = request.args.get('scene')
stop()
response = sim.simxLoadScene(client, scene, 0xFF, sim.simx_opmode_blocking)
while response == 1:
verboseResp(response, "simxLoadScene " + scene)
response = sim.simxLoadScene(client, scene, 0xFF,
sim.simx_opmode_blocking)
sleep(againIn)
verboseResp(response, "simxLoadScene " + scene)
if not response:
while setCameraBuffer() == "-1":
sleep(againIn)
return play()
return str(response)
sim.sim_scripttype_childscript, # scriptHandleOrType
'step', # functionName
[], # ints
[], # floats
[], # strings
emptyBuff, # buffer
sim.simx_opmode_blocking,
)
### Simulation ###
#set global variables
HUMAN_FOLLOW_DIST=.3
# load the scene
res = sim.simxLoadScene(clientID, 'fivedoors.ttt', True, sim.simx_opmode_blocking)
res = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot)
# get handles
robotHandle = getHandleFromName('lumibot')
left_motor_handle = getHandleFromName('lumibot_leftMotor')
right_motor_handle = getHandleFromName('lumibot_rightMotor')
doors=[getHandleFromName('_doorJoint')]
pathCtrlPoints = []
for i in range(1,5):
doors.append(getHandleFromName('_doorJoint#'+str(i)))
pathCtrlPoints.append(getHandleFromName('CtrlPt'+str(i)))
pathCtrlPoints.append(getHandleFromName('CtrlPt5'))
humanHandle = getHandleFromName('Bill_base')
doorInd=0
return None
# get the obstacles to avoid
restrictions = input('Ok. What would you like to avoid?')
if response in ENDINGS:
# if the human changes their mind then just plan the path
print('Ok. Planning your path now.')
return None
# list obstacles that the user wants to avoid
print('Great. Planning a path now that avoids', restrictions)
restrictions = restrictions.split(',')
return restrictions
### Simulation ###
# load the scene
res = sim.simxLoadScene(clientID, 'maze2.ttt', True,
sim.simx_opmode_blocking)
res = sim.simxStartSimulation(clientID, sim.simx_opmode_oneshot)
# get handles
robotHandle = getHandleFromName('lumibot')
billHandle = getHandleFromName('Bill')
dummy_list = {
'plant': getHandleFromName('Plant'),
'motorcycle': getHandleFromName('MotorCycle'),
'r2d2': getHandleFromName('R2D2'),
'bathroom': getHandleFromName('Bathroom'),
'blue chair': getHandleFromName('Blue_Chair'),
'yellow chair': getHandleFromName('Yellow_Chair'),
'table': getHandleFromName('Table')
}
left_motor_handle = getHandleFromName('lumibot_leftMotor')
def inputxmlfile(self):
#number returnCode=simxLoadScene(number clientID,string scenePathAndName,number options,number operationMode)
file_input = sim.simxLoadScene(self.clientID,
"Y:\home\Desktop\0126.ttt", 0x00,
sim.simx_opmode_blocking)
print("successful input file")
