def __init__(self): self._low_degrees_bound = 0 self._low_radians_bound = 0 self._high_degrees_bound = 180 self._high_radians_bound = np.pi # Get client id from the V-REP server-side vrep.simxFinish(-1) self.conn_handler = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5) if self.conn_handler == -1: print('Failed connecting to the remote API server') return -1 print('Succesfully connected to the remote API server...') # Get UARM entity # Implemented it in the dict style for future purposes # (if there're several robots in the env, call them like # env.robot['uarm'], env.robot['universal_robotics'], etc) uarm = UARM(self.conn_handler) self.robot = {'uarm': uarm} # Get cameras from V-REP # vs_0 - global view, # vs_1 - details basket, # vs_2 - destination basket, self.camera_handlers = [] for i in range(3): err, handler = vrep.simxGetObjectHandle( self.conn_handler, 'vs_' + str(i), vrep.simx_opmode_oneshot_wait) if err == vrep.simx_return_ok: self.camera_handlers.append(handler) else: print('Error getting camera handlers, ERR:', err) return
def connectVrep(): global CLIENT_ID CLIENT_ID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5) if CLIENT_ID != -1: print "Connected to V-Rep Server" else: print "Connection Failed" sys.exit()
def connect_to_vrep(): vrep.simxFinish(-1) # just in case, close all opened connections clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP if clientID == -1: print('Failed connecting to V-REP remote API server.') exit() else: vrep.simxSynchronous(clientID, True) return clientID
def connect_to_vrep(port=19997): clientID = vrep.simxStart('127.0.0.1', port, True, True, 5000, 5) # Connect to V-REP if clientID == -1: print('Failed connecting to V-REP remote API server.') exit() else: vrep.simxSynchronous(clientID, True) return clientID
def connectVrep(): global CLIENT_ID CLIENT_ID= vrep.simxStart('127.0.0.1',19999,True,True,5000,5) if CLIENT_ID!=-1: print "Connected to V-Rep Server" res,objs = vrep.simxGetObjects(CLIENT_ID,vrep.sim_handle_all,vrep.simx_opmode_oneshot_wait) if res == vrep.simx_return_ok: print "No. of Objects = ",len(objs) else: print "Connection Failed" sys.exit()
def _start_communication(self, ip, port, wait_until_start_communicationed=True, do_not_reconnect_once_disconnected=False, time_out_in_ms=15000, comm_thread_cycle_in_ms=5): """Requests a communication pipe with the simulator.""" clientID = vrep.simxStart(ip, port, wait_until_start_communicationed, do_not_reconnect_once_disconnected, time_out_in_ms, comm_thread_cycle_in_ms) return clientID if clientID != -1 else None
def start_sim(self): """ Function to start the simulation. The scene must be running before running this code. Returns: clientID: This ID is used to start the objects on the scene. """ vrep.simxFinish(-1) clientID = vrep.simxStart(self.SERVER_IP, self.SERVER_PORT, True, True, 2000, 5) if clientID != -1: print("Connected to remoteApi server.") else: vrep.simxFinish(clientID) sys.exit("\033[91m ERROR: Unable to connect to remoteApi server. Consider running scene before executing script.") return clientID
def __init__(self): self.jointNames = { 1: 'j_shoulder_r', 2: 'j_shoulder_l', 3: 'j_high_arm_r', 4: 'j_high_arm_l', 5: 'j_low_arm_r', 6: 'j_low_arm_l', 7: 'j_pelvis_r', 8: 'j_pelvis_l', 9: 'j_thigh1_r', 10: 'j_thigh1_l', 11: 'j_thigh2_r', 12: 'j_thigh2_l', 13: 'j_tibia_r', 14: 'j_tibia_l', 15: 'j_ankle1_r', 16: 'j_ankle1_l', 17: 'j_ankle2_r', 18: 'j_ankle2_l', 19: 'j_pan', 20: 'j_tilt' } self.objectnames = [ 'MP_BODY_respondable', 'MP_NECK_respondable', 'MP_HEAD_respondable' ] self.MOTOR_HANDLES = {} self.OBJECT_HANDLES = [] self.CLIENT_ID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5) #vrep.simxPauseSimulation(self.CLIENT_ID,True) if CLIENT_ID != -1: print "Connected to V-Rep Server" self.get_handles() else: print "Connection Failed" sys.exit()