API

Capabilities:
- Get Pose:
  - Body
  - Flashlight Head
  - Beacons
- Set Target Position:
  - Flashlight Head
- Set Joint Velocity:
  - Drivetrain
- Get Image
  - line scan camera



In [2]:

    
import vrep



In [3]:

    
clientID=vrep.simxStart('127.0.0.1',19997,True,True,5000,5)
clientID









    Out[3]:





0



In [4]:

    
res,objs=vrep.simxGetObjects(clientID,
                             vrep.sim_handle_all,
                             vrep.simx_opmode_oneshot_wait)
# res, objs

Line scan camera



In [5]:

    
errcode, handle = vrep.simxGetObjectHandle(clientID,
                                           'Vision_sensor',
                                           vrep.simx_opmode_oneshot_wait)
handle









    Out[5]:





0



In [6]:

    
%%timeit
errorcode, res, image = vrep.simxGetVisionSensorImage(clientID,
                              handle,
                              0,
                              vrep.simx_opmode_streaming)









    



100000 loops, best of 3: 5.27 µs per loop

Object Position



In [7]:

    
%%timeit
ec, pos = vrep.simxGetObjectPosition(clientID, handle, -1, vrep.simx_opmode_streaming)









    



100000 loops, best of 3: 5.04 µs per loop

Object Orientation



In [12]:

    
%%timeit
ec, orientation = vrep.simxGetObjectOrientation(clientID, handle, -1, vrep.simx_opmode_streaming)









    



100000 loops, best of 3: 5.15 µs per loop



In [15]:

    
ec, orientation = vrep.simxGetObjectOrientation(clientID, handle, -1, vrep.simx_opmode_streaming)



In [16]:

    
orientation









    Out[16]:





[3.1028072834014893, 0.5005983710289001, -1.490120530128479]

Set Joint Position



In [19]:

    
errcode, handle = vrep.simxGetObjectHandle(clientID,
                                           'Neck',
                                           vrep.simx_opmode_oneshot_wait)
handle









    Out[19]:





15



In [22]:

    
import math



In [25]:

    
vrep.simxSetJointTargetPosition(clientID,
                                handle,
                                -math.pi/2,
                                vrep.simx_opmode_streaming)









    Out[25]:





0

Set Joint Velocity



In [1]:

    
errcode, handle = vrep.simxGetObjectHandle(clientID,
                                           'leftMotor0',
                                           vrep.simx_opmode_oneshot_wait)
handle









    



---------------------------------------------------------------------------
NameError                                 Traceback (most recent call last)
<ipython-input-1-e496fca19d0c> in <module>()
----> 1 errcode, handle = vrep.simxGetObjectHandle(clientID,
      2                                            'leftMotor0',
      3                                            vrep.simx_opmode_oneshot_wait)
      4 handle

NameError: name 'vrep' is not defined



In [48]:

    
vrep.simxSetJointTargetVelocity(clientID,
                                handle,
                                0,
                                vrep.simx_opmode_oneshot)









    Out[48]:





0



In [ ]: