test_body_joint.py

import os,math,time
from vrepper import vrepper
# sorry but that's how the namespace works

venv = vrepper.vrepper(headless=True)
venv.start()

# load scene
venv.load_scene(os.getcwd() + '/scenes/body_joint_wheel.ttt')

body = venv.get_object_by_name('body')
wheel = venv.get_object_by_name('wheel')
joint = venv.get_object_by_name('joint')

print(body.handle,wheel.handle,joint.handle)

for j in range(5):
    venv.start_blocking_simulation()

    for i in range(20):
        print('simulation step',i)
        print('body position',body.get_position())
        print('wheel orientation',wheel.get_orientation())

        joint.set_velocity(10 * math.sin(i/5))
        # you should see things moving back and forth

        venv.step_blocking_simulation() # forward 1 timestep

    # stop the simulation and reset the scene:
    venv.stop_blocking_simulation()

print('simulation ended. leaving in 5 seconds...')
time.sleep(5)