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vrep.py
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vrep.py
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# This file is part of the REMOTE API
#
# Copyright 2006-2014 Coppelia Robotics GmbH. All rights reserved.
# marc@coppeliarobotics.com
# www.coppeliarobotics.com
#
# The REMOTE API is licensed under the terms of GNU GPL:
#
# -------------------------------------------------------------------
# The REMOTE API is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# THE REMOTE API IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
# WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
# AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
# DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
# MISUSING THIS SOFTWARE.
#
# See the GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with the REMOTE API. If not, see <http://www.gnu.org/licenses/>.
# -------------------------------------------------------------------
#
# This file was automatically created for V-REP release V3.1.3 on Sept. 30th 2014
import platform
import struct
from ctypes import *
from vrepConst import *
#load library
libsimx = None
if platform.system() =='Windows':
libsimx = CDLL("./remoteApi.dll")
elif platform.system() == 'Darwin':
libsimx = CDLL("./remoteApi.dylib")
else:
libsimx = CDLL("./remoteApi.so")
#ctypes wrapper prototypes
c_GetJointPosition = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetJointPosition", libsimx))
c_SetJointPosition = CFUNCTYPE(c_int32,c_int32, c_int32, c_float, c_int32)(("simxSetJointPosition", libsimx))
c_GetJointMatrix = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetJointMatrix", libsimx))
c_SetSphericalJointMatrix = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxSetSphericalJointMatrix", libsimx))
c_SetJointTargetVelocity = CFUNCTYPE(c_int32,c_int32, c_int32, c_float, c_int32)(("simxSetJointTargetVelocity", libsimx))
c_SetJointTargetPosition = CFUNCTYPE(c_int32,c_int32, c_int32, c_float, c_int32)(("simxSetJointTargetPosition", libsimx))
c_GetJointForce = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetJointForce", libsimx))
c_SetJointForce = CFUNCTYPE(c_int32,c_int32, c_int32, c_float, c_int32)(("simxSetJointForce", libsimx))
c_ReadForceSensor = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_ubyte), POINTER(c_float), POINTER(c_float), c_int32)(("simxReadForceSensor", libsimx))
c_BreakForceSensor = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxBreakForceSensor", libsimx))
c_ReadVisionSensor = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_ubyte), POINTER(POINTER(c_float)), POINTER(POINTER(c_int32)), c_int32)(("simxReadVisionSensor", libsimx))
c_GetObjectHandle = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_int32), c_int32)(("simxGetObjectHandle", libsimx))
c_GetVisionSensorImage = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), POINTER(POINTER(c_byte)), c_ubyte, c_int32)(("simxGetVisionSensorImage", libsimx))
c_SetVisionSensorImage = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_byte), c_int32, c_ubyte, c_int32)(("simxSetVisionSensorImage", libsimx))
c_GetVisionSensorDepthBuffer= CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), POINTER(POINTER(c_float)), c_int32)(("simxGetVisionSensorDepthBuffer", libsimx))
c_GetObjectChild = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetObjectChild", libsimx))
c_GetObjectParent = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetObjectParent", libsimx))
c_ReadProximitySensor = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_ubyte), POINTER(c_float), POINTER(c_int32), POINTER(c_float), c_int32)(("simxReadProximitySensor", libsimx))
c_LoadModel = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_ubyte, POINTER(c_int32), c_int32)(("simxLoadModel", libsimx))
c_LoadUI = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_ubyte, POINTER(c_int32), POINTER(POINTER(c_int32)), c_int32)(("simxLoadUI", libsimx))
c_LoadScene = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_ubyte, c_int32)(("simxLoadScene", libsimx))
c_StartSimulation = CFUNCTYPE(c_int32,c_int32, c_int32)(("simxStartSimulation", libsimx))
c_PauseSimulation = CFUNCTYPE(c_int32,c_int32, c_int32)(("simxPauseSimulation", libsimx))
c_StopSimulation = CFUNCTYPE(c_int32,c_int32, c_int32)(("simxStopSimulation", libsimx))
c_GetUIHandle = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_int32), c_int32)(("simxGetUIHandle", libsimx))
c_GetUISlider = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetUISlider", libsimx))
c_SetUISlider = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_int32, c_int32)(("simxSetUISlider", libsimx))
c_GetUIEventButton = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), POINTER(c_int32), c_int32)(("simxGetUIEventButton", libsimx))
c_GetUIButtonProperty = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetUIButtonProperty", libsimx))
c_SetUIButtonProperty = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_int32, c_int32)(("simxSetUIButtonProperty", libsimx))
c_AddStatusbarMessage = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32)(("simxAddStatusbarMessage", libsimx))
c_AuxiliaryConsoleOpen = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32, c_int32, POINTER(c_int32), POINTER(c_int32), POINTER(c_float), POINTER(c_float), POINTER(c_int32), c_int32)(("simxAuxiliaryConsoleOpen", libsimx))
c_AuxiliaryConsoleClose = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxAuxiliaryConsoleClose", libsimx))
c_AuxiliaryConsolePrint = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_char), c_int32)(("simxAuxiliaryConsolePrint", libsimx))
c_AuxiliaryConsoleShow = CFUNCTYPE(c_int32,c_int32, c_int32, c_ubyte, c_int32)(("simxAuxiliaryConsoleShow", libsimx))
c_GetObjectOrientation = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetObjectOrientation", libsimx))
c_GetObjectPosition = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetObjectPosition", libsimx))
c_SetObjectOrientation = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_float), c_int32)(("simxSetObjectOrientation", libsimx))
c_SetObjectPosition = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_float), c_int32)(("simxSetObjectPosition", libsimx))
c_SetObjectParent = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_ubyte, c_int32)(("simxSetObjectParent", libsimx))
c_SetUIButtonLabel = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_char), POINTER(c_char), c_int32)(("simxSetUIButtonLabel", libsimx))
c_GetLastErrors = CFUNCTYPE(c_int32,c_int32, POINTER(c_int32), POINTER(POINTER(c_char)), c_int32)(("simxGetLastErrors", libsimx))
c_GetArrayParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetArrayParameter", libsimx))
c_SetArrayParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxSetArrayParameter", libsimx))
c_GetBooleanParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_ubyte), c_int32)(("simxGetBooleanParameter", libsimx))
c_SetBooleanParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_ubyte, c_int32)(("simxSetBooleanParameter", libsimx))
c_GetIntegerParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetIntegerParameter", libsimx))
c_SetIntegerParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_int32)(("simxSetIntegerParameter", libsimx))
c_GetFloatingParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetFloatingParameter", libsimx))
c_SetFloatingParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_float, c_int32)(("simxSetFloatingParameter", libsimx))
c_GetStringParameter = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(POINTER(c_char)), c_int32)(("simxGetStringParameter", libsimx))
c_GetCollisionHandle = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_int32), c_int32)(("simxGetCollisionHandle", libsimx))
c_GetDistanceHandle = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_int32), c_int32)(("simxGetDistanceHandle", libsimx))
c_ReadCollision = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_ubyte), c_int32)(("simxReadCollision", libsimx))
c_ReadDistance = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), c_int32)(("simxReadDistance", libsimx))
c_RemoveObject = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxRemoveObject", libsimx))
c_RemoveModel = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxRemoveModel", libsimx))
c_RemoveUI = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxRemoveUI", libsimx))
c_CloseScene = CFUNCTYPE(c_int32,c_int32, c_int32)(("simxCloseScene", libsimx))
c_GetObjects = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), POINTER(POINTER(c_int32)), c_int32)(("simxGetObjects", libsimx))
c_DisplayDialog = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_char), c_int32, POINTER(c_char), POINTER(c_float), POINTER(c_float), POINTER(c_int32), POINTER(c_int32), c_int32)(("simxDisplayDialog", libsimx))
c_EndDialog = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32)(("simxEndDialog", libsimx))
c_GetDialogInput = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(POINTER(c_char)), c_int32)(("simxGetDialogInput", libsimx))
c_GetDialogResult = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetDialogResult", libsimx))
c_CopyPasteObjects = CFUNCTYPE(c_int32,c_int32, POINTER(c_int32), c_int32, POINTER(POINTER(c_int32)), POINTER(c_int32), c_int32)(("simxCopyPasteObjects", libsimx))
c_GetObjectSelection = CFUNCTYPE(c_int32,c_int32, POINTER(POINTER(c_int32)), POINTER(c_int32), c_int32)(("simxGetObjectSelection", libsimx))
c_SetObjectSelection = CFUNCTYPE(c_int32,c_int32, POINTER(c_int32), c_int32, c_int32)(("simxSetObjectSelection", libsimx))
c_ClearFloatSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32)(("simxClearFloatSignal", libsimx))
c_ClearIntegerSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32)(("simxClearIntegerSignal", libsimx))
c_ClearStringSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32)(("simxClearStringSignal", libsimx))
c_GetFloatSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_float), c_int32)(("simxGetFloatSignal", libsimx))
c_GetIntegerSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_int32), c_int32)(("simxGetIntegerSignal", libsimx))
c_GetStringSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(POINTER(c_ubyte)), POINTER(c_int32), c_int32)(("simxGetStringSignal", libsimx))
c_SetFloatSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_float, c_int32)(("simxSetFloatSignal", libsimx))
c_SetIntegerSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32, c_int32)(("simxSetIntegerSignal", libsimx))
c_SetStringSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_ubyte), c_int32, c_int32)(("simxSetStringSignal", libsimx))
c_AppendStringSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_ubyte), c_int32, c_int32)(("simxAppendStringSignal", libsimx))
c_WriteStringStream = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_ubyte), c_int32, c_int32)(("simxWriteStringStream", libsimx))
c_GetObjectFloatParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_float), c_int32)(("simxGetObjectFloatParameter", libsimx))
c_SetObjectFloatParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_float, c_int32)(("simxSetObjectFloatParameter", libsimx))
c_GetObjectIntParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetObjectIntParameter", libsimx))
c_SetObjectIntParameter = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_int32, c_int32)(("simxSetObjectIntParameter", libsimx))
c_GetModelProperty = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32), c_int32)(("simxGetModelProperty", libsimx))
c_SetModelProperty = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, c_int32)(("simxSetModelProperty", libsimx))
c_Start = CFUNCTYPE(c_int32,POINTER(c_char), c_int32, c_ubyte, c_ubyte, c_int32, c_int32)(("simxStart", libsimx))
c_Finish = CFUNCTYPE(None, c_int32)(("simxFinish", libsimx))
c_GetPingTime = CFUNCTYPE(c_int32,c_int32, POINTER(c_int32))(("simxGetPingTime", libsimx))
c_GetLastCmdTime = CFUNCTYPE(c_int32,c_int32)(("simxGetLastCmdTime", libsimx))
c_SynchronousTrigger = CFUNCTYPE(c_int32,c_int32)(("simxSynchronousTrigger", libsimx))
c_Synchronous = CFUNCTYPE(c_int32,c_int32, c_ubyte)(("simxSynchronous", libsimx))
c_PauseCommunication = CFUNCTYPE(c_int32,c_int32, c_ubyte)(("simxPauseCommunication", libsimx))
c_GetInMessageInfo = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32))(("simxGetInMessageInfo", libsimx))
c_GetOutMessageInfo = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_int32))(("simxGetOutMessageInfo", libsimx))
c_GetConnectionId = CFUNCTYPE(c_int32,c_int32)(("simxGetConnectionId", libsimx))
c_CreateBuffer = CFUNCTYPE(POINTER(c_ubyte), c_int32)(("simxCreateBuffer", libsimx))
c_ReleaseBuffer = CFUNCTYPE(None, c_void_p)(("simxReleaseBuffer", libsimx))
c_TransferFile = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_char), c_int32, c_int32)(("simxTransferFile", libsimx))
c_EraseFile = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), c_int32)(("simxEraseFile", libsimx))
c_GetAndClearStringSignal = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(POINTER(c_ubyte)), POINTER(c_int32), c_int32)(("simxGetAndClearStringSignal", libsimx))
c_ReadStringStream = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(POINTER(c_ubyte)), POINTER(c_int32), c_int32)(("simxReadStringStream", libsimx))
c_CreateDummy = CFUNCTYPE(c_int32,c_int32, c_float, POINTER(c_ubyte), POINTER(c_int32), c_int32)(("simxCreateDummy", libsimx))
c_Query = CFUNCTYPE(c_int32,c_int32, POINTER(c_char), POINTER(c_ubyte), c_int32, POINTER(c_char), POINTER(POINTER(c_ubyte)), POINTER(c_int32), c_int32)(("simxQuery", libsimx))
c_GetObjectGroupData = CFUNCTYPE(c_int32,c_int32, c_int32, c_int32, POINTER(c_int32), POINTER(POINTER(c_int32)), POINTER(c_int32), POINTER(POINTER(c_int32)), POINTER(c_int32), POINTER(POINTER(c_float)), POINTER(c_int32), POINTER(POINTER(c_char)), c_int32)(("simxGetObjectGroupData", libsimx))
c_GetObjectVelocity = CFUNCTYPE(c_int32,c_int32, c_int32, POINTER(c_float), POINTER(c_float), c_int32)(("simxGetObjectVelocity", libsimx))
#API functions
def simxGetJointPosition(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = c_float()
return c_GetJointPosition(clientID, jointHandle, byref(position), operationMode), position.value
def simxSetJointPosition(clientID, jointHandle, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetJointPosition(clientID, jointHandle, position, operationMode)
def simxGetJointMatrix(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
matrix = (c_float*12)()
ret = c_GetJointMatrix(clientID, jointHandle, matrix, operationMode)
arr = []
for i in range(12):
arr.append(matrix[i])
return ret, arr
def simxSetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
matrix = (c_float*12)(*matrix)
return c_SetSphericalJointMatrix(clientID, jointHandle, matrix, operationMode)
def simxSetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetJointTargetVelocity(clientID, jointHandle, targetVelocity, operationMode)
def simxSetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetJointTargetPosition(clientID, jointHandle, targetPosition, operationMode)
def simxJointGetForce(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
force = c_float()
return c_GetJointForce(clientID, jointHandle, byref(force), operationMode), force.value
def simxGetJointForce(clientID, jointHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
force = c_float()
return c_GetJointForce(clientID, jointHandle, byref(force), operationMode), force.value
def simxSetJointForce(clientID, jointHandle, force, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetJointForce(clientID, jointHandle, force, operationMode)
def simxReadForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
state = c_ubyte()
forceVector = (c_float*3)()
torqueVector = (c_float*3)()
ret = c_ReadForceSensor(clientID, forceSensorHandle, byref(state), forceVector, torqueVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(forceVector[i])
arr2 = []
for i in range(3):
arr2.append(torqueVector[i])
return ret, ord(state.value), arr1, arr2
def simxBreakForceSensor(clientID, forceSensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_BreakForceSensor(clientID, forceSensorHandle, operationMode)
def simxReadVisionSensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = c_ubyte()
auxValues = pointer(c_float())
auxValuesCount = pointer(c_int())
ret = c_ReadVisionSensor(clientID, sensorHandle, byref(detectionState), byref(auxValues), byref(auxValuesCount), operationMode)
auxValues2 = []
if ret == 0:
s = 0
for i in range(auxValuesCount[0]):
auxValues2.append(auxValues[s:s+auxValuesCount[i+1]])
s += auxValuesCount[i+1]
#free C buffers
c_ReleaseBuffer(auxValues)
c_ReleaseBuffer(auxValuesCount)
return ret, bool(detectionState.value!=0), auxValues2
def simxGetObjectHandle(clientID, objectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = c_int()
return c_GetObjectHandle(clientID, objectName, byref(handle), operationMode), handle.value
def simxGetVisionSensorImage(clientID, sensorHandle, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
resolution = (c_int*2)()
c_image = pointer(c_byte())
bytesPerPixel = 3
if (options and 1) != 0:
bytesPerPixel = 1
ret = c_GetVisionSensorImage(clientID, sensorHandle, resolution, byref(c_image), options, operationMode)
reso = []
image = []
if (ret == 0):
image = [None]*resolution[0]*resolution[1]*bytesPerPixel
for i in range(resolution[0] * resolution[1] * bytesPerPixel):
image[i] = c_image[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, image
def simxSetVisionSensorImage(clientID, sensorHandle, image, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
size = len(image)
image_bytes = (c_byte*size)(*image)
return c_SetVisionSensorImage(clientID, sensorHandle, image_bytes, size, options, operationMode)
def simxGetVisionSensorDepthBuffer(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_buffer = pointer(c_float())
resolution = (c_int*2)()
ret = c_GetVisionSensorDepthBuffer(clientID, sensorHandle, resolution, byref(c_buffer), operationMode)
reso = []
buffer = []
if (ret == 0):
buffer = [None]*resolution[0]*resolution[1]
for i in range(resolution[0] * resolution[1]):
buffer[i] = c_buffer[i]
for i in range(2):
reso.append(resolution[i])
return ret, reso, buffer
def simxGetObjectChild(clientID, parentObjectHandle, childIndex, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
childObjectHandle = c_int()
return c_GetObjectChild(clientID, parentObjectHandle, childIndex, byref(childObjectHandle), operationMode), childObjectHandle.value
def simxGetObjectParent(clientID, childObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parentObjectHandle = c_int()
return c_GetObjectParent(clientID, childObjectHandle, byref(parentObjectHandle), operationMode), parentObjectHandle.value
def simxReadProximitySensor(clientID, sensorHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
detectionState = c_ubyte()
detectedObjectHandle = c_int()
detectedPoint = (c_float*3)()
detectedSurfaceNormalVector = (c_float*3)()
ret = c_ReadProximitySensor(clientID, sensorHandle, byref(detectionState), detectedPoint, byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
arr1 = []
for i in range(3):
arr1.append(detectedPoint[i])
arr2 = []
for i in range(3):
arr2.append(detectedSurfaceNormalVector[i])
return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2
def simxLoadModel(clientID, modelPathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
baseHandle = c_int()
return c_LoadModel(clientID, modelPathAndName, options, byref(baseHandle), operationMode), baseHandle.value
def simxLoadUI(clientID, uiPathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
count = c_int()
uiHandles = pointer(c_int())
ret = c_LoadUI(clientID, uiPathAndName, options, byref(count), byref(uiHandles), operationMode)
handles = []
if ret == 0:
for i in range(count.value):
handles.append(uiHandles[i])
#free C buffers
c_ReleaseBuffer(uiHandles)
return ret, handles
def simxLoadScene(clientID, scenePathAndName, options, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_LoadScene(clientID, scenePathAndName, options, operationMode)
def simxStartSimulation(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_StartSimulation(clientID, operationMode)
def simxPauseSimulation(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_PauseSimulation(clientID, operationMode)
def simxStopSimulation(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_StopSimulation(clientID, operationMode)
def simxGetUIHandle(clientID, uiName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = c_int()
return c_GetUIHandle(clientID, uiName, byref(handle), operationMode), handle.value
def simxGetUISlider(clientID, uiHandle, uiButtonID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = c_int()
return c_GetUISlider(clientID, uiHandle, uiButtonID, byref(position), operationMode), position.value
def simxSetUISlider(clientID, uiHandle, uiButtonID, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetUISlider(clientID, uiHandle, uiButtonID, position, operationMode)
def simxGetUIEventButton(clientID, uiHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
uiEventButtonID = c_int()
auxValues = (c_int*2)()
ret = c_GetUIEventButton(clientID, uiHandle, byref(uiEventButtonID), auxValues, operationMode)
arr = []
for i in range(2):
arr.append(auxValues[i])
return ret, uiEventButtonID.value, arr
def simxGetUIButtonProperty(clientID, uiHandle, uiButtonID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
prop = c_int()
return c_GetUIButtonProperty(clientID, uiHandle, uiButtonID, byref(prop), operationMode), prop.value
def simxSetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetUIButtonProperty(clientID, uiHandle, uiButtonID, prop, operationMode)
def simxAddStatusbarMessage(clientID, message, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AddStatusbarMessage(clientID, message, operationMode)
def simxAuxiliaryConsoleOpen(clientID, title, maxLines, mode, position, size, textColor, backgroundColor, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
consoleHandle = c_int()
if position != None:
c_position = (c_int*2)(*position)
else:
c_position = None
if size != None:
c_size = (c_int*2)(*size)
else:
c_size = None
if textColor != None:
c_textColor = (c_float*3)(*textColor)
else:
c_textColor = None
if backgroundColor != None:
c_backgroundColor = (c_float*3)(*backgroundColor)
else:
c_backgroundColor = None
return c_AuxiliaryConsoleOpen(clientID, title, maxLines, mode, c_position, c_size, c_textColor, c_backgroundColor, byref(consoleHandle), operationMode), consoleHandle.value
def simxAuxiliaryConsoleClose(clientID, consoleHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AuxiliaryConsoleClose(clientID, consoleHandle, operationMode)
def simxAuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AuxiliaryConsolePrint(clientID, consoleHandle, txt, operationMode)
def simxAuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AuxiliaryConsoleShow(clientID, consoleHandle, showState, operationMode)
def simxGetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
eulerAngles = (c_float*3)()
ret = c_GetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode)
arr = []
for i in range(3):
arr.append(eulerAngles[i])
return ret, arr
def simxGetObjectPosition(clientID, objectHandle, relativeToObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
position = (c_float*3)()
ret = c_GetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode)
arr = []
for i in range(3):
arr.append(position[i])
return ret, arr
def simxSetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, eulerAngles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
angles = (c_float*3)(*eulerAngles)
return c_SetObjectOrientation(clientID, objectHandle, relativeToObjectHandle, angles, operationMode)
def simxSetObjectPosition(clientID, objectHandle, relativeToObjectHandle, position, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_position = (c_float*3)(*position)
return c_SetObjectPosition(clientID, objectHandle, relativeToObjectHandle, c_position, operationMode)
def simxSetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectParent(clientID, objectHandle, parentObject, keepInPlace, operationMode)
def simxSetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetUIButtonLabel(clientID, uiHandle, uiButtonID, upStateLabel, downStateLabel, operationMode)
def simxGetLastErrors(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
errors =[]
errorCnt = c_int()
errorStrings = pointer(c_char())
ret = c_GetLastErrors(clientID, byref(errorCnt), byref(errorStrings), operationMode)
if ret == 0:
s = 0
for i in range(errorCnt.value):
a = bytearray()
while errorStrings[s] != '\0':
a.append(errorStrings[s])
s += 1
s += 1 #skip null
errors.append(str(a))
return ret, errors
def simxGetArrayParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValues = (c_float*3)()
ret = c_GetArrayParameter(clientID, paramIdentifier, paramValues, operationMode)
arr = []
for i in range(3):
arr.append(paramValues[i])
return ret, arr
def simxSetArrayParameter(clientID, paramIdentifier, paramValues, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_paramValues = (c_float*3)(*paramValues)
return c_SetArrayParameter(clientID, paramIdentifier, c_paramValues, operationMode)
def simxGetBooleanParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = c_ubyte()
return c_GetBooleanParameter(clientID, paramIdentifier, byref(paramValue), operationMode), bool(paramValue.value!=0)
def simxSetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetBooleanParameter(clientID, paramIdentifier, paramValue, operationMode)
def simxGetIntegerParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = c_int()
return c_GetIntegerParameter(clientID, paramIdentifier, byref(paramValue), operationMode), paramValue.value
def simxSetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetIntegerParameter(clientID, paramIdentifier, paramValue, operationMode)
def simxGetFloatingParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = c_float()
return c_GetFloatingParameter(clientID, paramIdentifier, byref(paramValue), operationMode), paramValue.value
def simxSetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetFloatingParameter(clientID, paramIdentifier, paramValue, operationMode)
def simxGetStringParameter(clientID, paramIdentifier, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
paramValue = pointer(c_char())
ret = c_GetStringParameter(clientID, paramIdentifier, byref(paramValue), operationMode)
a = bytearray()
if ret == 0:
i = 0
while paramValue[i] != '\0':
a.append(paramValue[i])
i=i+1
return ret, str(a)
def simxGetCollisionHandle(clientID, collisionObjectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = c_int()
return c_GetCollisionHandle(clientID, collisionObjectName, byref(handle), operationMode), handle.value
def simxGetDistanceHandle(clientID, distanceObjectName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
handle = c_int()
return c_GetDistanceHandle(clientID, distanceObjectName, byref(handle), operationMode), handle.value
def simxReadCollision(clientID, collisionObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
collisionState = c_ubyte()
return c_ReadCollision(clientID, collisionObjectHandle, byref(collisionState), operationMode), bool(collisionState.value!=0)
def simxReadDistance(clientID, distanceObjectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
minimumDistance = c_float()
return c_ReadDistance(clientID, distanceObjectHandle, byref(minimumDistance), operationMode), minimumDistance.value
def simxRemoveObject(clientID, objectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_RemoveObject(clientID, objectHandle, operationMode)
def simxRemoveModel(clientID, objectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_RemoveModel(clientID, objectHandle, operationMode)
def simxRemoveUI(clientID, uiHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_RemoveUI(clientID, uiHandle, operationMode)
def simxCloseScene(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_CloseScene(clientID, operationMode)
def simxGetObjects(clientID, objectType, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
objectCount = c_int()
objectHandles = pointer(c_int())
ret = c_GetObjects(clientID, objectType, byref(objectCount), byref(objectHandles), operationMode)
handles = []
if ret == 0:
for i in range(objectCount.value):
handles.append(objectHandles[i])
return ret, handles
def simxDisplayDialog(clientID, titleText, mainText, dialogType, initialText, titleColors, dialogColors, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
if titleColors != None:
c_titleColors = (c_float*6)(*titleColors)
else:
c_titleColors = None
if dialogColors != None:
c_dialogColors = (c_float*6)(*dialogColors)
else:
c_dialogColors = None
c_dialogHandle = c_int()
c_uiHandle = c_int()
return c_DisplayDialog(clientID, titleText, mainText, dialogType, initialText, c_titleColors, c_dialogColors, byref(c_dialogHandle), byref(c_uiHandle), operationMode), c_dialogHandle.value, c_uiHandle.value
def simxEndDialog(clientID, dialogHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_EndDialog(clientID, dialogHandle, operationMode)
def simxGetDialogInput(clientID, dialogHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
inputText = pointer(c_char())
ret = c_GetDialogInput(clientID, dialogHandle, byref(inputText), operationMode)
a = bytearray()
if ret == 0:
i = 0
while inputText[i] != '\0':
a.append(inputText[i])
i = i+1
return ret, str(a)
def simxGetDialogResult(clientID, dialogHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
result = c_int()
return c_GetDialogResult(clientID, dialogHandle, byref(result), operationMode), result.value
def simxCopyPasteObjects(clientID, objectHandles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_objectHandles = (c_int*len(objectHandles))(*objectHandles)
newObjectCount = c_int()
newObjectHandles = pointer(c_int())
ret = c_CopyPasteObjects(clientID, c_objectHandles, len(objectHandles), byref(newObjectHandles), byref(newObjectCount), operationMode)
newobj = []
if ret == 0:
for i in range(newObjectCount.value):
newobj.append(newObjectHandles[i])
return ret, newobj
def simxGetObjectSelection(clientID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
objectCount = c_int()
objectHandles = pointer(c_int())
ret = c_GetObjectSelection(clientID, byref(objectHandles), byref(objectCount), operationMode)
newobj = []
if ret == 0:
for i in range(objectCount.value):
newobj.append(objectHandles[i])
return ret, newobj
def simxSetObjectSelection(clientID, objectHandles, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
c_objectHandles = (c_int*len(objectHandles))(*objectHandles)
return c_SetObjectSelection(clientID, c_objectHandles, len(objectHandles), operationMode)
def simxClearFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_ClearFloatSignal(clientID, signalName, operationMode)
def simxClearIntegerSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_ClearIntegerSignal(clientID, signalName, operationMode)
def simxClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_ClearStringSignal(clientID, signalName, operationMode)
def simxGetFloatSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = c_float()
return c_GetFloatSignal(clientID, signalName, byref(signalValue), operationMode), signalValue.value
def simxGetIntegerSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalValue = c_int()
return c_GetIntegerSignal(clientID, signalName, byref(signalValue), operationMode), signalValue.value
def simxGetStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = c_int();
signalValue = pointer(c_ubyte())
ret = c_GetStringSignal(clientID, signalName, byref(signalValue), byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
return ret, str(a)
def simxGetAndClearStringSignal(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = c_int();
signalValue = pointer(c_ubyte())
ret = c_GetAndClearStringSignal(clientID, signalName, byref(signalValue), byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
return ret, str(a)
def simxReadStringStream(clientID, signalName, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
signalLength = c_int();
signalValue = pointer(c_ubyte())
ret = c_ReadStringStream(clientID, signalName, byref(signalValue), byref(signalLength), operationMode)
a = bytearray()
if ret == 0:
for i in range(signalLength.value):
a.append(signalValue[i])
return ret, str(a)
def simxSetFloatSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetFloatSignal(clientID, signalName, signalValue, operationMode)
def simxSetIntegerSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetIntegerSignal(clientID, signalName, signalValue, operationMode)
def simxSetStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetStringSignal(clientID, signalName, signalValue, len(signalValue), operationMode)
def simxAppendStringSignal(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_AppendStringSignal(clientID, signalName, signalValue, len(signalValue), operationMode)
def simxWriteStringStream(clientID, signalName, signalValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_WriteStringStream(clientID, signalName, signalValue, len(signalValue), operationMode)
def simxGetObjectFloatParameter(clientID, objectHandle, parameterID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parameterValue = c_float()
return c_GetObjectFloatParameter(clientID, objectHandle, parameterID, byref(parameterValue), operationMode), parameterValue.value
def simxSetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectFloatParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
def simxGetObjectIntParameter(clientID, objectHandle, parameterID, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
parameterValue = c_int()
return c_GetObjectIntParameter(clientID, objectHandle, parameterID, byref(parameterValue), operationMode), parameterValue.value
def simxSetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetObjectIntParameter(clientID, objectHandle, parameterID, parameterValue, operationMode)
def simxGetModelProperty(clientID, objectHandle, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
prop = c_int()
return c_GetModelProperty(clientID, objectHandle, byref(prop), operationMode), prop.value
def simxSetModelProperty(clientID, objectHandle, prop, operationMode):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_SetModelProperty(clientID, objectHandle, prop, operationMode)
def simxStart(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''
return c_Start(connectionAddress, connectionPort, waitUntilConnected, doNotReconnectOnceDisconnected, timeOutInMs, commThreadCycleInMs)
def simxFinish(clientID):
'''
Please have a look at the function description/documentation in the V-REP user manual
'''