def simulate(self, individual):
self.robot.client.display_activation(False)
simulation = Simulation(self.robot.client)
simulation.start()
self.robot.init_stream()
time.sleep(0.1)
start = self.robot.position
for move in individual.moves:
self.robot.pause(True)
self.robot.wrist = math.radians(move.x())
self.robot.elbow = math.radians(move.y())
self.robot.shoulder = math.radians(move.z())
self.robot.pause(False)
self.robot.wait()
end = self.robot.position
simulation.stop()
time.sleep(0.1)
return euclidean_distance(start, end)
exit(1)
print client.id
robot = Robot(client)
if not robot.load():
print "Robot initialization failed!"
exit(1)
client.synchronous_mode()
random.seed()
for i in range(0, 3):
# Wait until the robot is settled to the default position
print "----- Simulation started -----"
simulation = Simulation(client)
simulation.start()
# client.display_activation(False)
robot.init_stream()
start = robot.position
# client.display_activation(False)
# Make the robot move randomly five times
for j in range(0, 20):
# Generating random positions for the motors
awrist = random.randint(0, 300)
aelbow = random.randint(0, 300)
ashoulder = random.randint(0, 300)
robot.pause(True)
robot.wrist = math.radians(awrist)
robot.elbow = math.radians(aelbow)