def init(self, scene=""):
# close any open connections
vrep.simxFinish(-1)
# Connect to the V-REP continuous server
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 500, 5)
if self.clientID == -1: # connection error
raise Exception(
'VrepWorld : Failed connecting to remote API server')
vrep.simxSynchronous(self.clientID, True)
print('Connected to remote API server')
##### NOT WORKING YET ###
# simxLoadScene
# clientID: the client ID. refer to simxStart.
# scenePathAndName: the scene filename, including the path and extension ("ttt"). The file is relative to the client or server system depending on the options value (see next argument)
# options: options, bit-coded:
# bit0 set: the specified file is located on the client side (in that case the function will be blocking since the scene first has to be transferred to the server). Otherwise it is located on the server side
# operationMode: a remote API function operation mode. Recommended operation mode for this function is simx_opmode_blocking
if scene != "":
scenePath = os.path.join(os.path.dirname(__file__), scene)
print(scenePath)
err = vrep.simxLoadScene(self.clientID, scenePath, 1,
vrep.simx_opmode_blocking)
if err != 0:
raise Exception("VrepRobot could load scene. Error " +
str(err))
print('Scene loaded')
def close(self):
"""Clean-up
"""
from vrep import vrep as vrep
# stop the simulation:
vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_oneshot_wait)
# close the connection to V-REP:
vrep.simxFinish(self._clientID)
def close(self):
"""Clean-up
"""
from vrep import vrep as vrep
# stop the simulation:
vrep.simxStopSimulation(self._clientID, vrep.simx_opmode_oneshot_wait)
# close the connection to V-REP:
vrep.simxFinish(self._clientID)
def close(self):
# Before closing the connection to V-REP,
# make sure that the last command sent out had time to arrive.
vrep.simxGetPingTime(self.clientID)
# Now close the connection to V-REP:
vrep.simxFinish(self.clientID)
print('connection closed...')
def __init__(self):
"""Constructor.
"""
from vrep import vrep as vrep
vrep.simxFinish(-1) # just in case, close all opened connections
self._clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
# enable the synchronous mode on the client:
vrep.simxSynchronous(self._clientID, True)
# start the simulation:
vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_oneshot_wait)
def create_virtual_create(self, hostname):
"""Instantiates a new virtual create for visualization (only a single one is supported!)
Returns:
(visualization.VirtualCreate) instance of visualization.VirtualCreate
"""
from vrep import vrep as vrep
vrep.simxFinish(-1) # just in case, close all opened connections
self._clientID = vrep.simxStart(hostname, 19997, True, True, 5000, 5) # Connect to V-REP
from visualization import VirtualCreate
return VirtualCreate(self._clientID)
def start_server(self):
# Finish any previous open communication
if self.force_finish_comm:
vrep.simxFinish(-1)
# Try connection
client_id = vrep.simxStart(self.server_ip, self.server_port,
self.wait_connection, self.do_not_reconnect,
self.time_out_ms, self.comm_thread_cycle)
if client_id == -1:
# Connection failed
raise Exception("Failed to connect to server. Server IP: " +
self.server_ip + ":" + str(self.server_port))
return client_id
def __init__(self):
# just in case, close all opened connections
vrep.simxFinish(-1)
self.client_id = vrep.simxStart('127.0.0.1', 5000, True, True, 5000, 5)
if self.client_id != -1: # check if client connection successful
print('Connected to remote API server')
else:
print('Connection not successful')
sys.exit('Could not connect')
# Restart the simulation
self.reset()
# Get handles
self.get_handles()
def __init__(self, hostname):
"""Constructor.
Args:
hostname (string): IP address for host running the simulation.
"""
vrep.simxFinish(-1)
self._clientID = vrep.simxStart(hostname, 19997, True, False, 5000, 5) # Connect to V-REP
print("clientId:", self._clientID)
# query objects
rc, self._obj = vrep.simxGetObjectHandle(self._clientID, "create_estimate", vrep.simx_opmode_oneshot_wait)
print("Return code 1:", rc)
# Use custom GUI
rc, self._uiHandle = vrep.simxGetUIHandle(self._clientID, "UI", vrep.simx_opmode_oneshot_wait)
print("Return code 2:", rc)
vrep.simxGetUIEventButton(self._clientID, self._uiHandle, vrep.simx_opmode_streaming)
print("RealCreate uiHandle:", self._uiHandle)
def __init__(self):
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
self.out = cv2.VideoWriter('output.mp4', fourcc, 15.0, (1024, 1024))
self.DoF = 6
# self.action_bound = [[-15,15],[-10,110],[-30,30],[-120,120],[-180,180],[-180,180]]
self.action_bound = [[-180, 180], [-180, 180], [-180, 180],
[-180, 180], [-180, 180], [-180, 180]]
self.action_range = [-5, 5]
self.action_dim = self.DoF
self.action_space = gym.spaces.Box(shape=(self.DoF, ), low=-5, high=5)
self.observation_space = gym.spaces.Box(shape=(3 + 6 + self.DoF * 2, ),
low=-180,
high=180)
self.action_dim = self.action_space.shape[0]
self.state_dim = self.observation_space.shape[0]
p = subprocess.Popen(['ps', '-A'], stdout=subprocess.PIPE)
out, err = p.communicate()
for line in out.splitlines():
if b'vrep' in line:
pid = int(line.split(None, -1)[0])
os.kill(pid, signal.SIGKILL)
self.vrep_root = "/home/ali/Downloads/VREP"
self.scene_file = "/home/ali/RL_code/env/rozum_model.ttt"
#
os.chdir(self.vrep_root)
os.system("./vrep.sh -s " + self.scene_file + " &")
vrep.simxFinish(-1)
time.sleep(1)
# get the ID of the running simulation
self.ID = vrep.simxStart('127.0.0.1', 19999, True, False, 5000, 5)
# check the connection
if self.ID != -1:
print("Connected")
else:
sys.exit("Error")
# get handles
# for camera
self.cam_handle = self.get_handle('Vision_sensor')
(code, res,
im) = vrep.simxGetVisionSensorImage(self.ID, self.cam_handle, 0,
const_v.simx_opmode_streaming)
self.render_handle = self.get_handle('render')
(code, res,
im) = vrep.simxGetVisionSensorImage(self.ID, self.render_handle, 0,
const_v.simx_opmode_streaming)
# joints
self.joint_handles = []
for i in range(self.DoF):
tmp = self.get_handle("joint%d" % (i))
self.joint_handles.append(tmp)
code, angle = vrep.simxGetJointPosition(
self.ID, tmp, const_v.simx_opmode_streaming)
# gripper tip
self.tip_handle = self.get_handle("Tip")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.tip_handle, -1,
const_v.simx_opmode_streaming)
self.or_handle = self.get_handle("RG2_baseVisible")
(code,
pose) = vrep.simxGetObjectOrientation(self.ID, self.or_handle, -1,
const_v.simx_opmode_streaming)
# cube
self.cube_handle = self.get_handle("Cube")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.cube_handle, -1,
const_v.simx_opmode_streaming)
(code,
pose) = vrep.simxGetObjectOrientation(self.ID, self.cube_handle, -1,
const_v.simx_opmode_streaming)
# get the goal handle
self.goal_handle = self.get_handle("Goal")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.goal_handle, -1,
const_v.simx_opmode_streaming)
# angles' array
self.angles = self.get_angles()
# gripper handles (used in closing and opening gripper)
self.gripper_motor = self.get_handle('RG2_openCloseJoint')
# task part
self.task_part = 0
self.init_angles = self.get_angles()
self.init_orientation = self.get_orientation(self.or_handle)
self.init_pose_cube = self.get_position(self.cube_handle)
# print(self.init_pose_cube)
self.init_goal_pose = self.get_position(self.goal_handle)
# print(self.init_goal_pose)
self.open_gripper()
self.reset()
self.tip_position = self.get_position(self.tip_handle)
self.goal_l = (80, 0, 0)
self.goal_u = (120, 255, 255)
self.cube_l = (55, 50, 50)
self.cube_u = (80, 255, 255)
self.er_kernel = np.ones((2, 2), np.uint8)
self.di_kernel = np.ones((2, 22), np.uint8)
self.task_part = 0
self.part_1_center = np.array([300.0, 335.0])
self.part_2_center = np.array([320.0, 290.0])
self.part_1_area = 0.25
self.part_2_area = 0.75
try:
from vrep import vrep
from vrep import vrepConst
except:
print('--------------------------------------------------------------')
print('"vrep.py" could not be imported. This means very probably that')
print('either "vrep.py" or the remoteApi library could not be found.')
print('Make sure both are in the same folder as this file,')
print('or appropriately adjust the file "vrep.py"')
print('--------------------------------------------------------------')
print('')
import time
print('Program started')
vrep.simxFinish(-1) # just in case, close all opened connections
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000,
5) # Connect to V-REP
if clientID != -1:
print('Connected to remote API server')
else:
print('Failed connecting to remote API server')
print('Program ended')
#vrep.sim_object_shape_type
#vrep.simx_opmode_oneshot
#simxGetObjectHandle
errorCode, carro = vrep.simxGetObjectHandle(clientID, 'Pioneer_p3dx',
vrep.simx_opmode_oneshot_wait)
errorCode, left_Motor = vrep.simxGetObjectHandle(clientID,
'Pioneer_p3dx_leftMotor',
def __init__(self):
self.DoF = 6
self.action_bound = [-5, 5]
self.action_dim = self.DoF
# os.chdir("/Vrep_server")
# os.system("git pull")
# os.chdir("/")
#
# self.vrep_root = "/V-REP_PRO_EDU_V3_5_0_Linux/"
# self.scene_file = "/Vrep_server/env/rozum_model.ttt"
#
# os.chdir(self.vrep_root)
# os.system("xvfb-run --auto-servernum --server-num=1 -s \"-screen 0 640x480x24\" ./vrep.sh -h -s " + self.scene_file + " &")
vrep.simxFinish(-1)
time.sleep(1)
# get the ID of the running simulation
self.ID = vrep.simxStart('127.0.0.1', 19999, True, False, 5000, 5)
# check the connection
if self.ID != -1:
print("Connected")
else:
sys.exit("Error")
# get handles
# for camera
self.cam_handle = self.get_handle('Vision_sensor')
(code, res,
im) = vrep.simxGetVisionSensorImage(self.ID, self.cam_handle, 0,
const_v.simx_opmode_streaming)
# joints
self.joint_handles = []
for i in range(self.DoF):
tmp = self.get_handle("joint%d" % (i))
self.joint_handles.append(tmp)
code, angle = vrep.simxGetJointPosition(
self.ID, tmp, const_v.simx_opmode_streaming)
# gripper tip
self.tip_handle = self.get_handle("Tip")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.tip_handle, -1,
const_v.simx_opmode_streaming)
# cube
self.cube_handle = self.get_handle("Cube")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.cube_handle, -1,
const_v.simx_opmode_streaming)
# get the goal handle
self.goal_handle = self.get_handle("Goal")
(code,
pose) = vrep.simxGetObjectPosition(self.ID, self.goal_handle, -1,
const_v.simx_opmode_streaming)
# angles' array
self.angles = self.get_angles()
# gripper handles (used in closing and opening gripper)
self.gripper_motor = self.get_handle('RG2_openCloseJoint')
# task part
self.task_part = 0
self.init_angles = self.get_angles()
self.init_pose_cube = self.get_position(self.cube_handle)
# print(self.init_pose_cube)
self.init_goal_pose = self.get_position(self.goal_handle)
# print(self.init_goal_pose)
self.open_gripper()
self.reset()
self.tip_position = self.get_position(self.tip_handle)
self.goal_l = (80, 0, 0)
self.goal_u = (120, 255, 255)
self.cube_l = (55, 50, 50)
self.cube_u = (80, 255, 255)
self.er_kernel = np.ones((2, 2), np.uint8)
self.di_kernel = np.ones((2, 22), np.uint8)
self.task_part = 0
self.part_1_center = np.array([300.0, 335.0])
self.part_2_center = np.array([320.0, 290.0])
self.part_1_area = 0.25
self.part_2_area = 0.75
def close_connection(self):
v.simxFinish(self._id)
def finish_server(self):
# Finish server
vrep.simxFinish(self.client_id)
def disconnect(self):
self.check_is_connected()
# Disconnect from server
vrep.simxFinish(self.id)
self.is_connected = False
from threading import Thread
p = subprocess.Popen(['ps', '-A'], stdout=subprocess.PIPE)
out, err = p.communicate()
for line in out.splitlines():
if b'vrep' in line:
pid = int(line.split(None, -1)[0])
os.kill(pid, signal.SIGKILL)
vrep_root = "/home/ali/Downloads/VREP"
scene_file = "/home/ali/PycharmProjects/Multi/multi.ttt"
os.chdir(vrep_root)
os.system("./vrep.sh -s " + scene_file + " &")
vrep.simxFinish(-1)
time.sleep(1)
# get the ID of the running simulation
ID = vrep.simxStart('127.0.0.1', 19999, True, False, 5000, 5)
# check the connection
if ID != -1:
print("Connected")
else:
sys.exit("Error")
start = 0.0
class Robot:
def __init__(self, ID, num):
def create_connect(self):
vrep.simxFinish(-1)
self.clientId = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if self.check_connection():
self.sensor = Sensor(self.clientId)
