def main():
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
if clientID == -1:
print('Failed connecting to remote API server')
return
print('Connected to remote API server')
# Now try to retrieve data in a blocking fashion (i.e. a service call):
res, objs = vrep.simxGetObjects(clientID, vrep.sim_handle_all,
vrep.simx_opmode_blocking)
if res == vrep.simx_return_ok:
print('Number of objects in the scene:', len(objs))
else:
print('Remote API function call returned with error code:', res)
sleep(2)
# Now retrieve streaming data (i.e. in a non-blocking fashion):
vrep.simxGetIntegerParameter(
clientID, vrep.sim_intparam_mouse_x,
vrep.simx_opmode_streaming) # Initialize streaming
err, Cub1_handle = vrep.simxGetObjectHandle(clientID, "Cub1",
vrep.simx_opmode_oneshot_wait)
err, nozzle_handle = vrep.simxGetObjectHandle(
clientID, "nozzle", vrep.simx_opmode_oneshot_wait)
# M path
# m_path(30, clientID, Cub1_handle)
#walk_to(0, 0, 0.5, clientID, Cub1_handle)
# walk_with(1, 0, 0, clientID, Cub1_handle)
#walk_with(-0.3, -0.5, 0, clientID, Cub1_handle)
walk_with(-0.3, -0.3, 0, clientID, Cub1_handle)
walk_with(0.3, 0.3, 0, clientID, Cub1_handle)
# Now send some data to V-REP in a non-blocking fashion:
vrep.simxAddStatusbarMessage(clientID, 'Hello V-REP!',
vrep.simx_opmode_oneshot)
# Before closing the connection to V-REP, make sure that the last command sent out had time to arrive. You can guarantee this with (for example):
vrep.simxGetPingTime(clientID)
# Now close the connection to V-REP:
vrep.simxFinish(clientID)
def get_dyn_eng_name(self):
"""Retrieve dynamics engine name."""
dyn_engs_names = {0: "Bullet", 1: "ODE", 2: "Vortex", 3: "Newton"}
if self._client_id is None:
raise ConnectionError("Could not retrieve dynamics engine name: "
"not connected to V-REP remote API server.")
res, dyn_eng_id = vrep.simxGetIntegerParameter(
self._client_id, vrep.sim_intparam_dynamic_engine,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve dynamics engine name.")
return dyn_engs_names[dyn_eng_id]
def get_version(self):
"""Retrieve V-REP version."""
if self._client_id is None:
raise ConnectionError("Could not retrieve V-REP version: not "
"connected to V-REP remote API server.")
res, version = vrep.simxGetIntegerParameter(
self._client_id, vrep.sim_intparam_program_version,
vrep.simx_opmode_blocking)
if res != vrep.simx_return_ok:
raise ServerError("Could not retrieve V-REP version.")
return "{x}.{y}.{z}".format(x=version // 10000,
y=(version // 100) % 100,
z=version % 100)
def get_info(self):
res, v = remote_api.simxGetIntegerParameter(self.api_id,
remote_api.sim_intparam_program_version,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_version'] = v
res, v = remote_api.simxGetIntegerParameter(self.api_id,
remote_api.sim_intparam_program_revision,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_revision'] = v
res, v = remote_api.simxGetIntegerParameter(self.api_id,
remote_api.sim_intparam_platform,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_platform'] = ['Windows', 'Darwin', 'Linux'][v]
res, v = remote_api.simxGetIntegerParameter(self.api_id,
remote_api.sim_intparam_dynamic_engine,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['physic_engine'] = ['Bullet', 'ODE', 'Vortex', 'Newton'][v]
return self.info
def get_info(self):
res, v = remote_api.simxGetIntegerParameter(
self.api_id, remote_api.sim_intparam_program_version,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_version'] = v
res, v = remote_api.simxGetIntegerParameter(
self.api_id, remote_api.sim_intparam_program_revision,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_revision'] = v
res, v = remote_api.simxGetIntegerParameter(
self.api_id, remote_api.sim_intparam_platform,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['vrep_platform'] = ['Windows', 'Darwin', 'Linux'][v]
res, v = remote_api.simxGetIntegerParameter(
self.api_id, remote_api.sim_intparam_dynamic_engine,
remote_api.simx_opmode_oneshot_wait)
assert res == 0
self.info['physic_engine'] = ['Bullet', 'ODE', 'Vortex', 'Newton'][v]
return self.info
print('Connected to remote API server')
# Now try to retrieve data in a blocking fashion (i.e. a service call):
res, objs = vrep.simxGetObjects(clientID, vrep.sim_handle_all,
vrep.simx_opmode_blocking)
if res == vrep.simx_return_ok:
print('Number of objects in the scene: ', len(objs))
else:
print('Remote API function call returned with error code: ', res)
time.sleep(2)
# Now retrieve streaming data (i.e. in a non-blocking fashion):
startTime = time.time()
vrep.simxGetIntegerParameter(
clientID, vrep.sim_intparam_mouse_x,
vrep.simx_opmode_streaming) # Initialize streaming
while time.time() - startTime < 5:
returnCode, data = vrep.simxGetIntegerParameter(
clientID, vrep.sim_intparam_mouse_x,
vrep.simx_opmode_buffer) # Try to retrieve the streamed data
if returnCode == vrep.simx_return_ok: # After initialization of streaming, it will take a few ms before the first value arrives, so check the return code
print(
'Mouse position x: ', data
) # Mouse position x is actualized when the cursor is over V-REP's window
time.sleep(0.005)
# Now send some data to V-REP in a non-blocking fashion:
vrep.simxAddStatusbarMessage(clientID, 'Hello V-REP!',
vrep.simx_opmode_oneshot)
clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # Connect to V-REP
if clientID!=-1:
print ('Connected to remote API server')
# Now try to retrieve data in a blocking fashion (i.e. a service call):
res,objs=vrep.simxGetObjects(clientID,vrep.sim_handle_all,vrep.simx_opmode_blocking)
if res==vrep.simx_return_ok:
print ('Number of objects in the scene: ',len(objs))
else:
print ('Remote API function call returned with error code: ',res)
time.sleep(2)
# Now retrieve streaming data (i.e. in a non-blocking fashion):
startTime=time.time()
vrep.simxGetIntegerParameter(clientID,vrep.sim_intparam_mouse_x,vrep.simx_opmode_streaming) # Initialize streaming
while time.time()-startTime < 5:
returnCode,data=vrep.simxGetIntegerParameter(clientID,vrep.sim_intparam_mouse_x,vrep.simx_opmode_buffer) # Try to retrieve the streamed data
if returnCode==vrep.simx_return_ok: # After initialization of streaming, it will take a few ms before the first value arrives, so check the return code
print ('Mouse position x: ',data) # Mouse position x is actualized when the cursor is over V-REP's window
time.sleep(0.005)
# Now send some data to V-REP in a non-blocking fashion:
vrep.simxAddStatusbarMessage(clientID,'Hello V-REP!',vrep.simx_opmode_oneshot)
# Before closing the connection to V-REP, make sure that the last command sent out had time to arrive. You can guarantee this with (for example):
vrep.simxGetPingTime(clientID)
# Now close the connection to V-REP:
vrep.simxFinish(clientID)
else:
print('Sensor_err: ', errorCode)
if res == vrep.simx_return_ok:
print('Number of objects in the scene: ', len(objs))
else:
print('Remote API function call returned with error code: ', res)
time.sleep(2)
#Initial Velocities
v = 0.05 * 50
away = True
# Now retrieve streaming data (i.e. in a non-blocking fashion):
startTime = time.time()
vrep.simxGetIntegerParameter(
clientID, vrep.sim_intparam_mouse_x,
vrep.simx_opmode_streaming) # Initialize streaming
while time.time() - startTime < 10:
errorCode = vrep.simxSetJointTargetVelocity(clientID,
left_motor_handle, v,
vrep.simx_opmode_streaming)
errorCode = vrep.simxSetJointTargetVelocity(clientID,
right_motor_handle, v,
vrep.simx_opmode_streaming)
#print('err: ',errorCode)
errorCode, detectionState, detectedPoint, detectedObjectHandle, detectedSurfaceNormalVector = vrep.simxReadProximitySensor(
clientID, sensor_handle, vrep.simx_opmode_streaming)
print('Sensor: ', detectionState)
def get_integer_parameter(self, param_id): return self.RAPI_rc(vrep.simxGetIntegerParameter( self.cID, param_id, vrep.simx_opmode_blocking))[0]
