本文整理汇总了Python中vrep.simxStart函数的典型用法代码示例。如果您正苦于以下问题:Python simxStart函数的具体用法?Python simxStart怎么用?Python simxStart使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了simxStart函数的15个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
def __init__(self):
self.ip = '127.0.0.1'
self.port = 19997
self.scene = './simu.ttt'
self.gain = 2
self.initial_position = [3,3,to_rad(45)]
self.r = 0.096 # wheel radius
self.R = 0.267 # demi-distance entre les r
print('New pioneer simulation started')
vrep.simxFinish(-1)
self.client_id = vrep.simxStart(self.ip, self.port, True, True, 5000, 5)
if self.client_id!=-1:
print ('Connected to remote API server on %s:%s' % (self.ip, self.port))
res = vrep.simxLoadScene(self.client_id, self.scene, 1, vrep.simx_opmode_oneshot_wait)
res, self.pioneer = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx', vrep.simx_opmode_oneshot_wait)
res, self.left_motor = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx_leftMotor', vrep.simx_opmode_oneshot_wait)
res, self.right_motor = vrep.simxGetObjectHandle(self.client_id, 'Pioneer_p3dx_rightMotor', vrep.simx_opmode_oneshot_wait)
self.set_position(self.initial_position)
vrep.simxStartSimulation(self.client_id, vrep.simx_opmode_oneshot_wait)
else:
print('Unable to connect to %s:%s' % (self.ip, self.port))
示例2: readDummyPath
def readDummyPath(self):
fp = open(self.dummyPath, 'r')
lines = fp.readlines() # 1行毎にファイル終端まで全て読む(改行文字も含まれる)
fp.close()
for line in lines:
buf = line.split(",")
for x in buf:
params = x.split(":")
if len(params) >= 2:
name = params[0]
try:
portNb = 19998 # int(params[1])
self.dummyID = vrep.simxStart("127.0.0.1", portNb, True, True, 2000, 5)
if self.dummyID == -1:
print >> sys.stderr, "Fatal: No client ID while creating Dummy Communicator."
else:
self.setClientID(self.dummyID)
except ValueError:
print >> sys.stderr, "Fatal: non integer value while creating Dummy Communicator."
time.sleep(1)
exit()
else:
name = params[0]
returnCode, handle = vrep.simxGetObjectHandle(self.dummyID, name, vrep.simx_opmode_oneshot_wait)
if returnCode != vrep.simx_return_ok:
print >> sys.stderr, "Fatal: Error obtaining a handle for " + name + "!"
else:
print name, handle
item = VRepItem(name, self.dummyID, handle)
self.addItem(item)
示例3: connectVREP
def connectVREP(self, ipAddr=LoadSystemConfiguration.getProperty(LoadSystemConfiguration(),"Vrep IP"), port=int(LoadSystemConfiguration.getProperty(LoadSystemConfiguration(),"Vrep port"))):
self.getObjectPositionFirstTime = True
#vrep.simxFinish(-1) # just in case, close all opened connections #TODO this could be a problem when the connection pool is implemented
time1 = time()
clientID = vrep.simxStart(ipAddr,port,True,True,5000,5)
time2 = time()
print "LOGGING time for connecting VREP in senconds: ", time2 - time1
return clientID
示例4: vrepConnect
def vrepConnect(clientID, port):
clientID=vrep.simxStart('127.0.0.1',port,True,True,1000,5)
if clientID!=-1:
print("Open Connection on port:"+str(port)+' with clientID: '+str(clientID))
else:
print("Failed connecting through port:"+str(port))
vrep.simxFinish(clientID)
return clientID
示例5: __init__
def __init__(self, port):
super(VREP, self).__init__()
# Add simExtRemoteApiStart(<port>) to an init script of VREP
# subscribe our client
self.id = vrep.simxStart('127.0.0.1', port, True, False, 5000, 5)
self._handle = {}
self._p = []
self._v = []
self._s = []
示例6: __init__
def __init__(self, **kwargs):
vrep.simxFinish(-1)
print "Start"
print ('Connected to remote API server')
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
self.opmode = vrep.simx_opmode_oneshot_wait
self.model = vrep.simxGetObjectHandle(self.clientID, '2W1A', self.opmode)
self.nGeneration = kwargs.get("nGeneration", 1)
if self.clientID == -1:
sys.exit('Failed connecting to remote API server')
示例7: _init_client_id
def _init_client_id(self):
vrep.simxFinish(-1)
self.client_id = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if self.client_id != -1:
print 'Connected to remote API server'
else:
print 'Connection not successful'
sys.exit('Could not connect')
示例8: connect
def connect(self):
global SYNC
self.cid = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # Connect to V-REP
if self.cid != -1:
print ('Connected to V-REP remote API serv'
'\er, client id: %s' % self.cid)
vrep.simxStartSimulation(self.cid, vrep.simx_opmode_oneshot)
if SYNC:
vrep.simxSynchronous(self.cid, True)
else:
print ('Failed connecting to V-REP remote API server')
exit()
示例9: __init__
def __init__(self, address, port):
print ('Program started')
vrep.simxFinish(-1)
self.clientID=vrep.simxStart(address,port,True,True,5000,5)
if self.clientID!=-1:
print "Conexion establecida, todo en orden"
else:
print "Conexion con el simulador fallida, reinicia el simulador"
error,self.motorFL=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx_rightMotor',vrep.simx_opmode_oneshot_wait)
error,self.motorFR=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx_leftMotor',vrep.simx_opmode_oneshot_wait)
error,self.camera=vrep.simxGetObjectHandle(self.clientID,'Vision_sensor',vrep.simx_opmode_oneshot_wait)
error,self.robot=vrep.simxGetObjectHandle(self.clientID,'Pioneer_p3dx',vrep.simx_opmode_oneshot_wait)
示例10: start_simulator
def start_simulator():
print 'Program started'
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19999, True, False, 5000, 5)
if clientID != -1:
print 'Connected to remote API server'
else:
print 'Failed connecting to remote API server'
sys.exit('Program Ended')
return clientID
示例11: start
def start(self):
print ('Program started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID = vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if self.clientID != -1:
print ('Connected to remote API server')
self.LWMotor_hdl = vrep.simxGetObjectHandle(self.clientID,'LeftWheel_Motor', vrep.simx_opmode_oneshot_wait) # LeftWheel Motor handle
self.RWMotor_hdl = vrep .simxGetObjectHandle(self.clientID,'RightWheel_Motor', vrep.simx_opmode_oneshot_wait) # RightWheel Motor handle
self.Robot_hdl = vrep.simxGetObjectHandle(self.clientID, 'Cubot', vrep.simx_opmode_oneshot_wait)
print ('Handle acquired !!')
else:
print ('Error : connection to vrep failed')
示例12: env_init
def env_init(self):
print ('VREP Environmental Program Started')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if self.clientID!=-1:
print ('Connected to remote API server')
self.fmu = FMU()
self.start_simulation()
else:
print('Connection Failure')
sys.exit('Abort Connection')
return self.makeTaskSpec()
示例13: run360
def run360():
print "connecting to vrep with address", IPADDRESS, "on port", PORT
clientID = vrep.simxStart(IPADDRESS, PORT, True, True, 5000, 5)
print "hello vrep! ", clientID
if clientID == -1:
print "failed to connect to vrep server"
return
# get the motor joint handle
error,jointHandle = vrep.simxGetObjectHandle(clientID, "plantStandMotor", vrep.simx_opmode_oneshot_wait)
print "starting the motor..."
# set the velocity of the joint
vrep.simxSetJointTargetVelocity(clientID, jointHandle, 1.0, vrep.simx_opmode_oneshot_wait);
print "spinning 360 degrees..."
# set up to stream joint positions
vrep.simxGetJointPosition(clientID, jointHandle, vrep.simx_opmode_streaming);
passed90Degrees = False
# The control loop:
while vrep.simxGetConnectionId(clientID) != -1 : # while we are connected to the server..
(error,position) = vrep.simxGetJointPosition(
clientID,
jointHandle,
vrep.simx_opmode_buffer
)
# Fetch the newest joint value from the inbox (func. returns immediately (non-blocking)):
if error==vrep.simx_error_noerror :
# here we have the newest joint position in variable jointPosition!
# break when we've done a 360
if passed90Degrees and position >= 0 and position < math.pi/2.0:
break
elif not passed90Degrees and position > math.pi/2.0:
passed90Degrees = True
print "stoppping..."
vrep.simxSetJointTargetVelocity(clientID, jointHandle, 0.0, vrep.simx_opmode_oneshot_wait);
if clientID != -1:
vrep.simxFinish(clientID)
print "done!"
示例14: VREPConnect
def VREPConnect(self):
vrep.simxFinish(-1)
"Connect to Simulation"
self.simulID = vrep.simxStart(self.robot_host,self.simulation_port,True,True, 5000,5)
eCode = vrep.simxSynchronous(self.simulID, True)
if eCode != 0:
print "Could not get V-REP to synchronize operation with me"
if not self.simulID == -1:
eCode = vrep.simxStartSimulation(self.simulID, vrep.simx_opmode_oneshot)
vrep.simxSynchronousTrigger(self.simulID)
print "my SimulID is ", self.simulID
else:
sys.exit("Failed to connect to VREP simulation. Bailing out")
示例15: Initialize
def Initialize():
# just in case, close all opened connections
vrep.simxFinish(-1)
# connect to local host port 19999
clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5)
if clientID!=-1: #check if client connection successful
print ('Connected to remote API server')
else:
print ('Connection not successful')
sys.exit('Could not connect')
return clientID