alters-mit / magnebot Goto Github PK

from magnebot import Magnebot, Arm
m = Magnebot()
status = m.init_floorplan_scene(scene="2a", layout=1)

>>> status = m.init_floorplan_scene(scene="2a", layout=1)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/mai/jroh/miniconda3/envs/tdw/lib/python3.8/site-packages/magnebot/magnebot_controller.py", line 480, in init_floorplan_scene
    return self._init_scene(scene=scene_commands,
  File "/home/mai/jroh/miniconda3/envs/tdw/lib/python3.8/site-packages/magnebot/magnebot_controller.py", line 2364, in _init_scene
    status = self._do_arm_motion()
  File "/home/mai/jroh/miniconda3/envs/tdw/lib/python3.8/site-packages/magnebot/magnebot_controller.py", line 1853, in _do_arm_motion
    for i in range(len(state_0.joint_angles[a_id])):
KeyError: -1262053853

import numpy as np
from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from magnebot import Magnebot, ImageFrequency
from magnebot.util import get_default_post_processing_commands
from tdw.add_ons.first_person_avatar import FirstPersonAvatar
import pdb

width = 256
height = 256


class ChaseBall(Controller):


    def __init__(self, port: int = 1071, check_version: bool = True, launch_build: bool = True):
        super().__init__(port=port, check_version=check_version, launch_build=launch_build)



        # Add the avatar and the Magnebot.

        
        self.av = FirstPersonAvatar()

        self.magnebot: Magnebot = Magnebot(robot_id=self.get_unique_id(),   position={"x": -1.4, "y": 0, "z": -1.1},
                                           image_frequency=ImageFrequency.never)

      
        self.add_ons.extend([self.av, self.magnebot])


        # Create the scene.

        commands = [ 
                    TDWUtils.create_empty_room(20, 20),
                    
                    {"$type": "set_screen_size",
                     "width": width, #640,
                     "height": height}, #480},
                    {"$type": "create_interior_walls", "walls": [{"x": 6, "y": 1}, {"x": 6, "y": 2},{"x": 6, "y": 3},{"x": 6, "y": 4},{"x": 6, "y": 5},{"x": 1, "y": 6},{"x": 2, "y": 6},{"x": 3, "y": 6},{"x": 4, "y": 6},{"x": 5, "y": 6}]},
                    {"$type": "create_interior_walls", "walls": [{"x": 14, "y": 1}, {"x": 14, "y": 2},{"x": 14, "y": 3},{"x": 14, "y": 4},{"x": 14, "y": 5},{"x": 19, "y": 6},{"x": 18, "y": 6},{"x": 17, "y": 6},{"x": 16, "y": 6},{"x": 15, "y": 6}]},   
                    {"$type": "create_interior_walls", "walls": [{"x": 6, "y": 19}, {"x": 6, "y": 18},{"x": 6, "y": 17},{"x": 6, "y": 16},{"x": 6, "y": 15},{"x": 1, "y": 14},{"x": 2, "y": 14},{"x": 3, "y": 14},{"x": 4, "y": 14},{"x": 5, "y": 14}]},
                    {"$type": "create_interior_walls", "walls": [{"x": 14, "y": 19}, {"x": 14, "y": 18},{"x": 14, "y": 17},{"x": 14, "y": 16},{"x": 14, "y": 15},{"x": 19, "y": 14},{"x": 18, "y": 14},{"x": 17, "y": 14},{"x": 16, "y": 14},{"x": 15, "y": 14}]}
                    ]


        


        # Add post-processing.
        commands.extend(get_default_post_processing_commands())
        

        self.communicate(commands)


    


    
    def run(self):

        commands = []
      
        timer = 100
        print(self.magnebot.robot_id)
        
        while True:

           
            resp = self.communicate(commands)
            commands.clear()
            #pdb.set_trace()

            all_images = []
            

            if not timer:
                print("Destroying robot")
                commands.append({"$type": "destroy_robot", "id": self.magnebot.robot_id}) #Destroy magnebot after certain time
                timer -= 1
            elif timer > 0:
                timer -= 1




        self.communicate({"$type": "terminate"})


    


if __name__ == "__main__":
    c = ChaseBall()
    print('hello')
    c.run()

IndexOutOfRangeException: Index was outside the bounds of the array.
  at UnityEngine.ArticulationReducedSpace.get_Item (System.Int32 i) [0x00018] in <654f6f6960084f7f9e01df4721ae83bf>:0 
  at TDWInput.SendDynamicRobots.GetData (FlatBuffers.FlatBufferBuilder fbb) [0x00278] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 
  at TDWInput.SendSingleDataCommand`1[T].GetOutputData (NetMQ.NetMQMessage& data) [0x00007] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 
  at TDWInput.SendDataCommand`1[T].Send (NetMQ.NetMQMessage& data) [0x00014] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 
  at (wrapper delegate-invoke) <Module>.invoke_void_NetMQMessage&(NetMQ.NetMQMessage&)
  at NetworkManager.GetOutput (NetMQ.NetMQMessage& output) [0x0005c] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 
  at Req.Update () [0x00038] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 
  at NetworkManager.Update () [0x0000e] in <99d63b1e506f4bb8be3f49a715cbd4fa>:0 

line 50, in __init__
    self.socket.recv()
  File "zmq/backend/cython/socket.pyx", line 781, in zmq.backend.cython.socket.Socket.recv
  File "zmq/backend/cython/socket.pyx", line 817, in zmq.backend.cython.socket.Socket.recv
  File "zmq/backend/cython/socket.pyx", line 186, in zmq.backend.cython.socket._recv_copy
  File "zmq/backend/cython/checkrc.pxd", line 13, in zmq.backend.cython.checkrc._check_rc

from tdw.controller import Controller
from tdw.tdw_utils import TDWUtils
from magnebot import Magnebot, ActionStatus

c = Controller()  # On a server, change this to Controller(launch_build=False)
magnebot = Magnebot()
c.communicate(TDWUtils.create_empty_room(12, 12))
magnebot.move_by(2)
while magnebot.action.status == ActionStatus.ongoing:
    c.communicate([])
c.communicate([])
print(magnebot.dynamic.transform.position)
c.communicate({"$type": "terminate"})