pool-martin / nao-with-vrep

This is an example of integration of V-REP simulation environment and nao-qi simulator

NAO search path in V-REP

This project goal is to make NAO search a path in a simple labirinth in v-rep. After control nao and v-rep simulation we created a labirinth problem where nao has to find the exit using his positioning and calculating the best path to the exit. A big part of this was built upon PierreJac's work. Please read his work as a start point for this. In addition to v-rep we will use the Choregraphe suite and the Python NAOqi SDK from Aldebaran. One video with this working is here video

Requirements

• v-rep : A free simulation environment.
• Python NAOqi-SDK : Contain all the function you need to manipulate your NAO (virtual or not) using python.

Quickstart

• After all prerequisites installed:

$ ./EnvironmentSetup/start_linux.sh

$ ./script/Labirinth.py

nao-with-vrep's Issues

NAO robot fall down just as started to move

RT.
i don't know how did it happened,and never can stand up.i check the code def comemorate(self): self.pp.goToPosture('LyingBack', 0.5)
whether it happened because of the argument "LyingBack"?

and my trackback is:

`Usage python motion_moveTo.py robotIP (optional default: 127.0.0.1)
================ Program Sarted ================
Connected to remote API server
[I] 2804 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 2804 qimessaging.transportserver: TransportServer will listen on: tcp://219.
221.196.112:2937
[I] 2804 qimessaging.transportserver: TransportServer will listen on: tcp://127.
0.0.1:2937
========== Setting Start Position ==========
================ Handles Initialization ================
-> Head for NAO
-> Left Leg for NAO
-> Right Leg for NAO
-> Left Arm for NAO
-> Right Arm for NAO
-> Left Fingers for NAO
-> Right Fingers for NAO
========== NAO is listening ==========

R R R R R +

R U # # # . .
U . . . # # #
['U', 'R', 'U', 'R', 'R', 'R', 'R', 'R']
================ follow the path ================
Traceback (most recent call last):
File "Labirinth.py", line 361, in
main(robotIp, clientID)
File "Labirinth.py", line 333, in main
nao.FollowPath(path)
File "Labirinth.py", line 222, in FollowPath
self.MoveTo(direction)
File "Labirinth.py", line 175, in MoveTo
self.SetThetaToMove(direction)
File "Labirinth.py", line 163, in SetThetaToMove
currentTheta = self.GetRawOrientation()
File "Labirinth.py", line 127, in GetRawOrientation
returnCode, NaoHandle = vrep.simxGetObjectHandle(self.vrepclientID,'NAO',vre
p.simx_opmode_oneshot_wait)
File "C:\Program Files (x86)\V-REP3\NAO-with-VREP-master\NAO-with-VREP-master
script\vrep.py", line 285, in simxGetObjectHandle
return c_GetObjectHandle(clientID, objectName, ct.byref(handle), operationMo
de), handle.value
KeyboardInterrupt`

i manually interrupt the code. And it falling down time is when just code process to ========== NAO is listening ==========

hope that your apply and thank you in advance very much.