def __init__(self, enables_acturator_dynamics = False):
self.vrep_client_id=vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
self.current_goal = 0.
self.path_list = []
self.current_car_position = []
while True:
print('Connected to remote API server')
if self.vrep_client_id != -1:
break
else:
sleep(0.2)
self.path_list = self.readCSV()
self.left_motor_handles = vrep.simxGetObjectHandle(clientID=self.vrep_client_id, objectName='Team12_motorLeft', operationMode=vrep.simx_opmode_blocking)[1]
self.right_motor_handles = vrep.simxGetObjectHandle(clientID=self.vrep_client_id, objectName='Team12_motorRight', operationMode=vrep.simx_opmode_blocking)[1]
self.steeringLeft_handles = vrep.simxGetObjectHandle(clientID=self.vrep_client_id, objectName='Team12_steeringLeft', operationMode=vrep.simx_opmode_blocking)[1]
self.steeringRight_handles = vrep.simxGetObjectHandle(clientID=self.vrep_client_id, objectName='Team12_steeringRight', operationMode=vrep.simx_opmode_blocking)[1]
self.car_handle = vrep.simxGetObjectHandle(clientID=self.vrep_client_id,objectName='Team12_VehicleFrontPose', operationMode=vrep.simx_opmode_blocking)[1]
self.collision_handle = vrep.simxGetCollisionHandle(clientID=self.vrep_client_id,collisionObjectName='Collision', operationMode=vrep.simx_opmode_blocking)[1]
self.goal_number = 0
self.goal_angle = 0
def __init__(self):
try:
vrep.simxFinish(-1)
except:
pass
self.clientID=vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
#vrep.simxSynchronous(self.clientID, True)
self.opmode_blocking = vrep.simx_opmode_blocking
self.obs_handle1 = vrep.simxGetObjectHandle(self.clientID, objectName="obs1", operationMode=vrep.simx_opmode_blocking)[1]
self.obs_handle2 = vrep.simxGetObjectHandle(self.clientID, objectName="obs2", operationMode=vrep.simx_opmode_blocking)[1]
self.obs_handle3 = vrep.simxGetObjectHandle(self.clientID, objectName="obs3", operationMode=vrep.simx_opmode_blocking)[1]
self.obs_handle4 = vrep.simxGetObjectHandle(self.clientID, objectName="obs4", operationMode=vrep.simx_opmode_blocking)[1]
self.obs_handle5 = vrep.simxGetObjectHandle(self.clientID, objectName="obs5", operationMode=vrep.simx_opmode_blocking)[1]
self.d_obs_handle = vrep.simxGetObjectHandle(self.clientID, objectName="Obstacle_shape_1", operationMode=vrep.simx_opmode_blocking)[1]
self.robot_handle = vrep.simxGetObjectHandle(self.clientID, objectName="dualarm_mobile", operationMode=vrep.simx_opmode_blocking)[1]
self.x_rand1 = 1.2362 #random.uniform(-2.5, 2.5)
self.x_rand3 = -2.388 #random.uniform(-2.5, 2.5)
self.x_rand4 = 1.8112 #random.uniform(-2.5, 2.5)
self.x_rand5 = -2.5138 #random.uniform(-2.5, 2.5)
vrep.simxSetObjectPosition(self.clientID, self.obs_handle1, -1, [6.75, self.x_rand1, 0.5], self.opmode_blocking)
vrep.simxSetObjectPosition(self.clientID, self.obs_handle3, -1, [1.75, self.x_rand3, 0.5], self.opmode_blocking)
vrep.simxSetObjectPosition(self.clientID, self.obs_handle4, -1, [-2.75, self.x_rand4, 0.5], self.opmode_blocking)
vrep.simxSetObjectPosition(self.clientID, self.obs_handle5, -1, [-5.75, self.x_rand5, 0.5], self.opmode_blocking)
self.alpha = 0.1
self.deviation = 0
self._pos_x = -8
self._pos_y = 0
self._d_x = 4.95
self._d_y = -1.0696
self.graph_switch = True
self.csv_container = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
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)
#vrep.simxPauseSimulation(clientID, operationMode=vrep.simx_opmode_oneshot)
pass
opmode_blocking = vrep.simx_opmode_blocking
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)
# get joint handles:
joint_handle = [
vrep.simxGetObjectHandle(clientID, 'Motor_left',
opmode_blocking)[1],
vrep.simxGetObjectHandle(clientID, 'Motor_right',
opmode_blocking)[1]
]
# get target handle
robot_handle = vrep.simxGetObjectHandle(clientID, 'Robot',
opmode_blocking)[1]
# start the simulation:
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxSynchronousTrigger(clientID)
# Now step a few times:
for t in range(1, 500):
vrep.simxSynchronousTrigger(clientID)
vrep.simxFinish(-1) # just in case, close all opened connections
except:
pass
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')
#Get object handle
#(
#client ID,
#'object name',
#operation mode
#)
e, handle = vrep.simxGetObjectHandle(clientID, 'Cuboid',
vrep.simx_opmode_blocking)
time.sleep(3)
#Set object position
#(
#client ID,
#object handle,
#relative to object handle (-1 if absolute),
#position,
#operation mode
#)
vrep.simxSetObjectPosition(clientID, handle, -1, [0.0, 0.0, 1.0],
vrep.simx_opmode_blocking)
time.sleep(3)
#Set object orientation
except:
pass
opmode_blocking = vrep.simx_opmode_blocking
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)
# get joint handles:
joint_handle = [
vrep.simxGetObjectHandle(clientID, 'MTB_axis1', opmode_blocking)[1],
vrep.simxGetObjectHandle(clientID, 'MTB_axis2', opmode_blocking)[1]
]
# get target handle
cube_handle = vrep.simxGetObjectHandle(clientID, 'Cube', opmode_blocking)[1]
# link length
a1 = 0.467
a2 = 0.405
# start the simulation:
vrep.simxStartSimulation(clientID,vrep.simx_opmode_blocking)
vrep.simxSynchronousTrigger(clientID)
# desired pose of end-effector
vrep.simxFinish(-1) # just in case, close all opened connections
except:
pass
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')
#Get joint handle
#(
#client ID,
#'joint name',
#operation mode
#)
e, handle = vrep.simxGetObjectHandle(clientID, 'Revolute_joint',
vrep.simx_opmode_blocking)
#Start simulation(
#client ID,
#operation mode
#)
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
#Set joint target position
#(
#client ID,
#joint handle,
#target position,
#operation mode
#)
vrep.simxSetJointTargetPosition(clientID, handle, pi / 4,
pass
opmode_blocking = vrep.simx_opmode_blocking
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)
# get joint handles:
joint_handle = [
vrep.simxGetObjectHandle(clientID, 'steeringLeft',
opmode_blocking)[1],
vrep.simxGetObjectHandle(clientID, 'steeringRight',
opmode_blocking)[1],
vrep.simxGetObjectHandle(clientID, 'motorLeft',
opmode_blocking)[1],
vrep.simxGetObjectHandle(clientID, 'motorRight',
opmode_blocking)[1]
]
# start the simulation:
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxSynchronousTrigger(clientID)
# Now step a few times:
for t in range(1, 300):
vrep.simxSynchronousTrigger(clientID)