def stop_unstoped_simulation():
"""
If not stoped normally, call this function, or copy the following three
lines and run them.
"""
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxFinish(clientID)
def destroy(self):
"""
Finish simulation and release connection to server.
"""
vrep.simxStopSimulation(self.clientID, self._def_op_mode)
vrep.simxFinish(self.clientID)
def __init__(self):
print('Program started')
# connect to V-REP server
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
if self.clientID != -1:
print('Connected to remote API server')
else:
print('Failed connecting to remote API server')
# start simulate
self._def_op_mode = vrep.simx_opmode_blocking
self._set_joint_op_mode = vrep.simx_opmode_oneshot
self._set_light_op_mode = vrep.simx_opmode_oneshot
self._set_visitor_op_mode = vrep.simx_opmode_oneshot
# To get sensor data
# vrep.simx_opmode_buffer: does not work, don't know why?
# vrep.simx_opmode_blocking: too slow
# vrep.simx_opmode_oneshot: works pretty good
self._get_prox_op_mode = vrep.simx_opmode_oneshot
self._get_light_op_mode = vrep.simx_opmode_oneshot
vrep.simxStartSimulation(self.clientID, self._def_op_mode)
# get object names and handles
self._get_object_name_and_handle()
# initialize action and observation space
print("Initialize LAS action and observation space...")
self.prox_sensor_num = len(self.proxSensorHandles)
self.smas_num = len(self.jointHandles)
self.lights_num = len(self.lightHandles)
self.sensors_dim = self.prox_sensor_num + self.lights_num * (1 + 3)
self.actuators_dim = self.smas_num + self.lights_num * (
1 + 3) # light state & color
self.act_max = np.array([np.inf] * self.actuators_dim)
self.act_min = -np.array([np.inf] * self.actuators_dim)
self.obs_max = np.array([1.] * self.sensors_dim)
self.obs_min = -np.array([1.] * self.sensors_dim)
self.observation_space = spaces.Box(self.obs_min, self.obs_max)
self.action_space = spaces.Box(self.act_min, self.act_max)
print("Initialization of LAS done!")
# initialize Visitor action and observation space
print("Initialize Visitor action and observation space...")
self.visitor_num = len(self.visitorHandles)
self.visitor_action_dim = self.visitor_num * 2 # visitor's position (x,y,0)
self.visitor_action_max = np.array(
[7, 9] * self.visitor_num
) # later we should find a way to automatic get this limit
self.visitor_action_min = np.array([-7, -9] * self.visitor_num)
self.visitor_action_space = spaces.Box(self.visitor_action_min,
self.visitor_action_max)
# initialize Single Visitor action and observation space
print("Initialize Visitor action and observation space...")
self.single_visitor_action_dim = self.visitor_num * 2 # visitor's position (x,y,0)
self.single_visitor_action_max = np.array(
[7, 9]) # later we should find a way to automatic get this limit
self.single_visitor_action_min = np.array([-7, -9])
self.single_visitor_action_space = spaces.Box(
self.single_visitor_action_min, self.single_visitor_action_max)
print("Initialization of visitor done!")
self.reward = 0
# load floor tile
floor_tile_handles, floor_tile_positions = load_model(
clientID, 'floor_tile', location_file='floor_tile_location.csv')
# load hallway
hallway_handles, hallway_positions = load_model(
clientID, 'hallway', location_file='hallway_location.csv')
# load goal
goal_handles, goal_positions = load_model(
clientID, 'goal', location_file='goal_location.csv')
# load participant
standing_participant_handles, standing_participant_positions = load_model(
clientID,
'standing_participant',
location_file='standing_participant_location.csv')
if __name__ == '__main__':
"""
Load models into the scene
"""
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
if clientID != -1:
print('Connected to remote API server')
else:
print('Failed connecting to remote API server')
# create 4room_world scene
creat_4room_world_scene(clientID)
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
vrep.simxFinish(clientID)
def destroy(self):
vrep.simxStopSimulation(self.clientID, self._def_op_mode)
vrep.simxFinish(self.clientID)