Initial upgrade to 4.6; planning collision checking still needed

.pre-commit-config.yaml

@@ -0,0 +1,16 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+
+  - repo: https://github.com/charliermarsh/ruff-pre-commit
+    rev: v0.0.272
+    hooks:
+      - id: ruff

README.md

@@ -3,6 +3,9 @@
 
 __PyRep is a toolkit for robot learning research, built on top of [CoppeliaSim](http://www.coppeliarobotics.com/) (previously called V-REP).__
 
+__Announcement!__
+PyRep has undergone a __MAJOR__ update, and is now compatible with the most recent version of CoppeliaSim. Most importantly, it now has Mac and Windows support!
+
 
 - [Install](#install)
 - [Running Headless](#running-headless)
@@ -18,7 +21,7 @@ __PyRep is a toolkit for robot learning research, built on top of [CoppeliaSim](
 
 ## Install
 
-PyRep requires version **4.1** of CoppeliaSim. Download: 
+PyRep requires version **4.6.0** of CoppeliaSim. Download: 
 - [Ubuntu 16.04](https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu16_04.tar.xz)
 - [Ubuntu 18.04](https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu18_04.tar.xz)
 - [Ubuntu 20.04](https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz)
@@ -269,8 +272,6 @@ Coppelia Robotics discontinued development of __V-REP__. Instead, they now focus
 their efforts on __CoppeliaSim__. CoppeliaSim is 100% compatible with V-REP.
 See more information [here](http://coppeliarobotics.com/helpFiles/en/versionInfo.htm#coppeliaSim4.0.0).
 
-PyRep is fully compatible with both V-REP and CoppeliaSim.
-
 
 ## Citation
 

examples/example_panda_ik.py

@@ -19,9 +19,6 @@
 
 # Try solving via linearisation
 new_joint_pos = agent.solve_ik_via_jacobian([x, y, z - 0.01], quaternion=q)
-new_joint_pos = agent.solve_ik_via_jacobian([x, y, z - 0.05], quaternion=q)
-new_joint_pos = agent.solve_ik_via_jacobian([x, y, z - 0.1], quaternion=q)
-new_joint_pos = agent.solve_ik_via_jacobian([x, y, z - 0.2], quaternion=q)
 
 # This will fail because the distance between start and goal is too far
 try:
@@ -30,7 +27,7 @@
     # So let's swap to an alternative IK method...
     # This returns 'max_configs' number of joint positions
     input('Press key to run solve_ik_via_sampling...')
-    new_joint_pos = agent.solve_ik_via_sampling([x, y, z - 0.4], quaternion=q)[0]
+    new_joint_pos = agent.solve_ik_via_sampling([x, y, z - 0.4], quaternion=q, max_time_ms=2000)[0]
 
 # Because the arm is in Forxe/Torque mode, we need to temporarily disable
 # dynamics in order to instantaneously move joints.

pyrep/__init__.py

@@ -1,4 +1,4 @@
-__version__ = '4.1.0.3'
+__version__ = '4.6.0'
 
 testing = False
 

pyrep/backend/bridge.py

@@ -0,0 +1,54 @@
+from ctypes import *
+
+from pyrep.backend.lib import *
+from pyrep.errors import CoppeliaSimError
+
+
+def __f(f):
+    return f + '@lua'
+
+def load():
+    stack = simCreateStack()
+    simPushStringOntoStack(stack, c_char_p('scriptClientBridge'.encode('ascii')), 0)
+    r = simCallScriptFunctionEx(8, c_char_p(__f('require').encode('ascii')), stack)
+    simReleaseStack(stack)
+
+def call(func, args):
+    stack = simCreateStack()
+    import cbor
+    b = cbor.dumps({'func': func, 'args': args})
+    simPushStringOntoStack(stack, c_char_p(b), len(b))
+    r = simCallScriptFunctionEx(8, c_char_p(__f('scriptClientBridge.call').encode('ascii')), stack)
+    sz = c_int()
+    ptr = simGetStackStringValue(stack, byref(sz))
+    o = cbor.loads(string_at(ptr, sz.value))
+    simReleaseBuffer(ptr)
+    simReleaseStack(stack)
+    if o['success']:
+        ret = o['result']
+        if len(ret) == 1:
+            return ret[0]
+        if len(ret) > 1:
+            return tuple(ret)
+    else:
+        raise CoppeliaSimError(o['error'])
+
+def getObject(name, _info=None):
+    ret = type(name, (), {})
+    if not _info:
+        _info = call('scriptClientBridge.info', [name])
+    for k, v in _info.items():
+        if not isinstance(v, dict):
+            raise ValueError('found nondict')
+        if len(v) == 1 and 'func' in v:
+            setattr(ret, k, lambda *a, func=f'{name}.{k}': call(func, a))
+        elif len(v) == 1 and 'const' in v:
+            setattr(ret, k, v['const'])
+        else:
+            setattr(ret, k, getObject(f'{name}.{k}', _info=v))
+    return ret
+
+def require(obj):
+    call('scriptClientBridge.require', [obj])
+    o = getObject(obj)
+    return o

pyrep/backend/lib.py

@@ -0,0 +1,142 @@
+import builtins
+import os
+import sys
+
+from ctypes import *
+
+from pyrep.errors import PyRepError
+
+if 'COPPELIASIM_ROOT' not in os.environ:
+    raise PyRepError(
+        'COPPELIASIM_ROOT not defined. See installation instructions.')
+coppeliasim_root = os.environ['COPPELIASIM_ROOT']
+coppeliasim_library = os.path.join(coppeliasim_root, "libcoppeliaSim.so")
+if not os.path.isfile(coppeliasim_library):
+    raise PyRepError(
+        'COPPELIASIM_ROOT was not a correct path. '
+        'See installation instructions')
+
+appDir = os.path.dirname(coppeliasim_library)
+os.environ['QT_QPA_PLATFORM_PLUGIN_PATH'] = appDir
+
+import platform
+plat = platform.system()
+if plat == 'Darwin':
+    fd = os.path.normpath(appDir + '/../Frameworks')
+    os.environ['DYLD_LIBRARY_PATH'] = fd + ':' + os.environ.get('DYLD_LIBRARY_PATH', '')
+    print(f'If next step fails, do: export DYLD_LIBRARY_PATH={fd}:$DYLD_LIBRARY_PATH and relaunch.')
+
+coppeliaSimLib = cdll.LoadLibrary(coppeliasim_library)
+coppeliaSimLib.simRunGui.argtypes = [c_int]
+coppeliaSimLib.simRunGui.restype = None
+coppeliaSimLib.simCreateStack.argtypes = []
+coppeliaSimLib.simCreateStack.restype = c_int
+coppeliaSimLib.simReleaseStack.argtypes = [c_int]
+coppeliaSimLib.simReleaseStack.restype = c_int
+coppeliaSimLib.simReleaseBuffer.argtypes = [c_void_p]
+coppeliaSimLib.simReleaseBuffer.restype = c_int
+coppeliaSimLib.simPushStringOntoStack.argtypes = [c_int, c_char_p, c_int]
+coppeliaSimLib.simPushStringOntoStack.restype = c_int
+coppeliaSimLib.simCallScriptFunctionEx.argtypes = [c_int, c_char_p, c_int]
+coppeliaSimLib.simCallScriptFunctionEx.restype = c_int
+coppeliaSimLib.simGetStackStringValue.argtypes = [c_int, POINTER(c_int)]
+coppeliaSimLib.simGetStackStringValue.restype = c_void_p
+coppeliaSimLib.simInitialize.argtypes = [c_char_p, c_int]
+coppeliaSimLib.simInitialize.restype = c_int
+coppeliaSimLib.simGetExitRequest.argtypes = []
+coppeliaSimLib.simGetExitRequest.restype = c_int
+coppeliaSimLib.simLoop.argtypes = [c_void_p, c_int]
+coppeliaSimLib.simLoop.restype = c_int
+coppeliaSimLib.simDeinitialize.argtypes = []
+coppeliaSimLib.simDeinitialize.restype = c_int
+coppeliaSimLib.simSetStringParam.argtypes = [c_int, c_char_p]
+coppeliaSimLib.simSetStringParam.restype = c_int
+coppeliaSimLib.simSetNamedStringParam.argtypes = [c_char_p, c_char_p, c_int]
+coppeliaSimLib.simSetNamedStringParam.restype = c_int
+coppeliaSimLib.simRegCallback.argtypes = [c_int, CFUNCTYPE(c_int, c_int)]
+coppeliaSimLib.simRegCallback.restype = None
+coppeliaSimLib.simCopyStack.argtypes = [c_int]
+coppeliaSimLib.simCopyStack.restype = c_int
+coppeliaSimLib.simPushNullOntoStack.argtypes = [c_int]
+coppeliaSimLib.simPushNullOntoStack.restype = c_int
+coppeliaSimLib.simPushBoolOntoStack.argtypes = [c_int, c_bool]
+coppeliaSimLib.simPushBoolOntoStack.restype = c_int
+coppeliaSimLib.simPushInt32OntoStack.argtypes = [c_int, c_int]
+coppeliaSimLib.simPushInt32OntoStack.restype = c_int
+coppeliaSimLib.simPushInt64OntoStack.argtypes = [c_int, c_longlong]
+coppeliaSimLib.simPushInt64OntoStack.restype = c_int
+coppeliaSimLib.simPushUInt8TableOntoStack.argtypes = [c_int, POINTER(c_ubyte), c_int]
+coppeliaSimLib.simPushUInt8TableOntoStack.restype = c_int
+coppeliaSimLib.simPushInt32TableOntoStack.argtypes = [c_int, POINTER(c_int), c_int]
+coppeliaSimLib.simPushInt32TableOntoStack.restype = c_int
+coppeliaSimLib.simPushInt64TableOntoStack.argtypes = [c_int, POINTER(c_longlong), c_int]
+coppeliaSimLib.simPushInt64TableOntoStack.restype = c_int
+coppeliaSimLib.simPushTableOntoStack.argtypes = [c_int]
+coppeliaSimLib.simPushTableOntoStack.restype = c_int
+coppeliaSimLib.simInsertDataIntoStackTable.argtypes = [c_int]
+coppeliaSimLib.simInsertDataIntoStackTable.restype = c_int
+coppeliaSimLib.simGetStackSize.argtypes = [c_int]
+coppeliaSimLib.simGetStackSize.restype = c_int
+coppeliaSimLib.simPopStackItem.argtypes = [c_int, c_int]
+coppeliaSimLib.simPopStackItem.restype = c_int
+coppeliaSimLib.simMoveStackItemToTop.argtypes = [c_int, c_int]
+coppeliaSimLib.simMoveStackItemToTop.restype = c_int
+coppeliaSimLib.simGetStackItemType.argtypes = [c_int, c_int]
+coppeliaSimLib.simGetStackItemType.restype = c_int
+coppeliaSimLib.simGetStackBoolValue.argtypes = [c_int, POINTER(c_bool)]
+coppeliaSimLib.simGetStackBoolValue.restype = c_int
+coppeliaSimLib.simGetStackInt32Value.argtypes = [c_int, POINTER(c_int)]
+coppeliaSimLib.simGetStackInt32Value.restype = c_int
+coppeliaSimLib.simGetStackInt64Value.argtypes = [c_int, POINTER(c_longlong)]
+coppeliaSimLib.simGetStackInt64Value.restype = c_int
+coppeliaSimLib.simGetStackTableInfo.argtypes = [c_int, c_int]
+coppeliaSimLib.simGetStackTableInfo.restype = c_int
+coppeliaSimLib.simGetStackUInt8Table.argtypes = [c_int, c_char_p, c_int]
+coppeliaSimLib.simGetStackUInt8Table.restype = c_int
+coppeliaSimLib.simGetStackInt32Table.argtypes = [c_int, POINTER(c_int), c_int]
+coppeliaSimLib.simGetStackInt32Table.restype = c_int
+coppeliaSimLib.simGetStackInt64Table.argtypes = [c_int, POINTER(c_longlong), c_int]
+coppeliaSimLib.simGetStackInt64Table.restype = c_int
+coppeliaSimLib.simUnfoldStackTable.argtypes = [c_int]
+coppeliaSimLib.simUnfoldStackTable.restype = c_int
+coppeliaSimLib.simGetStackDoubleValue.argtypes = [c_int, POINTER(c_double)]
+coppeliaSimLib.simGetStackDoubleValue.restype = c_int
+coppeliaSimLib.simGetStackDoubleTable.argtypes = [c_int, POINTER(c_double), c_int]
+coppeliaSimLib.simGetStackDoubleTable.restype = c_int
+coppeliaSimLib.simPushDoubleOntoStack.argtypes = [c_int, c_double]
+coppeliaSimLib.simPushDoubleOntoStack.restype = c_int
+coppeliaSimLib.simPushDoubleTableOntoStack.argtypes = [c_int, POINTER(c_double), c_int]
+coppeliaSimLib.simPushDoubleTableOntoStack.restype = c_int
+
+__all__ = []
+
+for name in dir(coppeliaSimLib):
+    if name.startswith('sim'):
+        f = getattr(coppeliaSimLib, name)
+        if callable(f):
+            globals()[name] = f
+            __all__.append(name)
+
+const = type('', (), {})
+
+const.sim_stackitem_null = 0
+const.sim_stackitem_double = 1
+const.sim_stackitem_bool = 2
+const.sim_stackitem_string = 3
+const.sim_stackitem_table = 4
+const.sim_stackitem_func = 5
+const.sim_stackitem_userdat = 6
+const.sim_stackitem_thread = 7
+const.sim_stackitem_lightuserdat = 8
+const.sim_stackitem_integer = 9
+
+const.sim_stack_table_circular_ref = -4
+const.sim_stack_table_not_table = -3
+const.sim_stack_table_map = -2
+const.sim_stack_table_empty = 0
+
+for name in dir(const):
+    if name.startswith('sim'):
+        f = getattr(const, name)
+        globals()[name] = f
+        __all__.append(name)