本文整理汇总了Python中vrep.simxStartSimulation函数的典型用法代码示例。如果您正苦于以下问题:Python simxStartSimulation函数的具体用法?Python simxStartSimulation怎么用?Python simxStartSimulation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simxStartSimulation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: restart
def restart(self,earlyStop = False):
if (self.cid != None):
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
time.sleep(1)
self.connect()
time.sleep(1)
vrep.simxLoadScene(self.cid, '/home/elias/[email protected]/_Winter2015/CSC494/Scenes/Base_Quad.ttt', 0, self.mode())
if earlyStop:
vrep.simxStopSimulation(self.cid, self.mode())
vrep.simxSynchronousTrigger(self.cid)
vrep.simxFinish(-1) # just in case, close all opened connections
return
vrep.simxStartSimulation(self.cid, self.mode())
self.runtime = 0
err, self.copter = vrep.simxGetObjectHandle(self.cid, "Quadricopter_base",
vrep.simx_opmode_oneshot_wait)
err, self.target = vrep.simxGetObjectHandle(self.cid, "Quadricopter_target",
vrep.simx_opmode_oneshot_wait)
err, self.front_camera = vrep.simxGetObjectHandle(self.cid, 'Quadricopter_frontCamera', vrep.simx_opmode_oneshot)
err, lin, ang = vrep.simxGetObjectVelocity(self.cid, self.copter, vrep.simx_opmode_streaming)
self.getTargetStart()
for i in range(4):
self.propellerScripts[i] = vrep.simxGetObjectHandle(self.cid,
'Quadricopter_propeller_respondable' + str(i) + str(1),
self.mode())
示例3: reset_simulation
def reset_simulation(clientID):
vrep.simxStopSimulation(clientID, vrep.simx_opmode_oneshot)
time.sleep(1) # um pequeno sleep entre o stop e o start
vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot)
for move in startMoves:
JointControl(clientID, 0, Body, move)
time.sleep(0.1)
示例4: start_sim
def start_sim(self):
time.sleep(self.sleep_sec_min)
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)
self.gripper_enabled = False
self.__update_all_object_positions()
self.cylinder_height = self.get_object_height(self.cylinder_handle)
self.cylinder_z_locus = self.get_position(self.cylinder_handle)[2]
self.bin_position = self.get_position(self.bin_handle)
示例5: 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6: startsim
def startsim(self):
"""
Start the simulation in synchronous mode to achieve exact simulation
independent of the framerate. To be able to do this, you have to
connec to the port 19997 of vrep, edit the file
`remoteApiConnections.txt` to contain something like
portIndex1_port = 19997
portIndex1_debug = true
portIndex1_syncSimTrigger = false
"""
self.set_led(8,0)
vrep.simxStartSimulation(self._clientID, vrep.simx_opmode_oneshot)
vrep.simxSynchronous(self._clientID, True)
self.stepsim(1)
示例7: wait_until_simulator_started
def wait_until_simulator_started(clientID):
while True:
try:
if vrep.simxStartSimulation(clientID, vrep.simx_opmode_oneshot_wait) == vrep.simx_return_ok:
break
except KeyboardInterrupt:
sys.exit('Program Ended')
示例8: __init__
def __init__(self, sim_dt=0.05, nengo_dt=0.001, sync=True):
vrep.simxFinish(-1) # just in case, close all opened connections
self.cid = vrep.simxStart('127.0.0.1',19997,True,True,5000,5)
self.sync = sync
if self.cid != -1:
print ('Connected to V-REP remote API server, client id: %s' % self.cid)
vrep.simxStartSimulation( self.cid, vrep.simx_opmode_oneshot )
if self.sync:
vrep.simxSynchronous( self.cid, True )
else:
print ('Failed connecting to V-REP remote API server')
exit(1)
self.count = 0
self.sim_dt = sim_dt
self.nengo_dt = nengo_dt
示例9: startSim
def startSim(self, clientID, screen=True):
vrep.simxSetIntegerParameter(clientID,vrep.sim_intparam_dynamic_engine,bulletEngine ,vrep.simx_opmode_oneshot_wait)
vrep.simxSetFloatingParameter(clientID,vrep.sim_floatparam_simulation_time_step, simulatioTimeStepDT, vrep.simx_opmode_oneshot_wait)
error=vrep.simxStartSimulation(clientID,vrep.simx_opmode_oneshot)
if not screen:
vrep.simxSetIntegerParameter(clientID,vrep.sim_intparam_visible_layers,2,vrep.simx_opmode_oneshot_wait)
#vrep.simxSetBooleanParameter(clientID,vrep.sim_boolparam_display_enabled,0,vrep.simx_opmode_oneshot_wait)
return error
示例10: reset
def reset(self):
"""In VREP we reset a simulation by stopping and restarting it"""
eCode = vrep.simxStopSimulation(self._VREP_clientId, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not stop VREP simulation")
eCode = vrep.simxStartSimulation(self._VREP_clientId, vrep.simx_opmode_oneshot_wait)
if eCode != 0:
raise Exception("Could not start VREP simulation")
vrep.simxSynchronousTrigger(self._VREP_clientId)
示例11: run
def run(self):
if self.clientID!=-1:
_ = vrep.simxStartSimulation(self.clientID,vrep.simx_opmode_oneshot_wait)
t0 = time.time()
while time.time() - t0 < 30:
for bot in self.bots:
bot.robotCode()
示例12: connection
def connection(self):
"""
Make connection with v-rep simulator
"""
print ('Waiting for connection...')
vrep.simxFinish(-1) # just in case, close all opened connections
self.clientID=vrep.simxStart('127.0.0.1',self.port,True,True,5000,5) # Connect to V-REP
if self.clientID!=-1:
print ('Connected to remote API server')
# enable the synchronous mode on the client:
if self.synchronous:
vrep.simxSynchronous(self.clientID,True)
# start the simulation:
vrep.simxStartSimulation(self.clientID,vrep.simx_opmode_oneshot_wait)
else:
raise IOError('Failed connecting to remote API server')
示例13: __init__
def __init__(self):
vrep.simxFinish(-1) # just in case, close all opened connections
time.sleep(0.5)
self.clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # tenta conectar no simulador, se salva o clientID
# paramos a simulacao, se estiver em andamento, e comecamos denovo
# vrep.simxStopSimulation(self.clientID, vrep.simx_opmode_oneshot)
#time.sleep(0.5)
vrep.simxStartSimulation(self.clientID, vrep.simx_opmode_oneshot)
# modo da API, como eh False, esta no modo assincrono(os ticks da simulacao rodam em velocidade independente)
vrep.simxSynchronous(self.clientID, False)
print("connected with id ", self.clientID)
self.oldtarget = None
self.camera = None
self.setup()
self.lastimageAcquisitionTime = 0
示例14: run
def run(self):
if self.clientID!=-1:
if not self.multirobots:
# Start simulation if MultiRobotRunner not already starting it
_ = vrep.simxStartSimulation(self.clientID,vrep.simx_opmode_oneshot)
self.robotCode()
if not self.multirobots:
# Stop VREP simulation cleanly if MultiRobotRunner not already stopping it
self.clean_exit()
示例15: reset
def reset( self ):
err = vrep.simxStopSimulation(self.cid, vrep.simx_opmode_oneshot_wait)
time.sleep(1)
self.pos_err = [0,0,0]
self.ori_err = [0,0,0]
self.lin = [0,0,0]
self.ang = [0,0,0]
err = vrep.simxStartSimulation(self.cid, vrep.simx_opmode_oneshot_wait)
if SYNC:
vrep.simxSynchronous( self.cid, True )