python联合vrep_python控制vrep代码实例

1.连接、开始仿真、断开、停止仿真

要通过python控制vrep中的模型，就要将python端与vrep端进行连接，然后控制vrep开始仿真，而连接、开始仿真、断开连接、停止连接的函数例程都是一样的，因此下面的程序可以直接进行复制粘贴(但是要注意所连接的端口号)：

import time

import numpy as np

import vrep

import config

import math

# V-REP data transmission modes:

WAIT = vrep.simx_opmode_oneshot_wait

ONESHOT = vrep.simx_opmode_oneshot

STREAMING = vrep.simx_opmode_streaming

BUFFER = vrep.simx_opmode_buffer

BLOCKING = vrep.simx_opmode_blocking

if config.wait_response:

MODE_INI = WAIT

MODE = WAIT

else:

MODE_INI = STREAMING

MODE = BUFFER

robotID = -1

ultraID = [-1] * config.n_ultra

rewardRefID = -1

goalID = -1

left_motorID = -1

right_motorID = -1

clientID = -1

left_collisionID = -1

right_collisionID = -1

distance = np.full(config.n_ultra, -1, dtype = np.float64) # distance from ultrasonic sensors

pos = np.full(3, -1, dtype = np.float64) # Pose 2d base: x(m), y(m), theta(rad)

reward_ref = np.full(1, -1, dtype = np.float64) # reward reference: distance between goal and robot

def show_msg(message):

""" send a message for printing in V-REP """

vrep.simxAddStatusbarMessage(clientID, message, WAIT)

return

def connect():

""" Connect to the simulator"""

ip = '127.0.0.1'

port = 19997

vrep.simxFinish(-1) # just in case, close all opened connections

global clientID

clientID = vrep.simxStart(ip, port, True, True, 3000, 5)

# Connect to V-REP

if clientID == -1:

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