Set-up

This notebook contains configuration code for using the V-REP simulator from Jupyter notebooks.

It includes:

configuration details for the environmental variables the simulator expects to be set/
helper functions for introspecting robot model classes and objects
IPython magic definition and registration for magics used to access the simulator.

The notebook can be run from another notebook using the %run magic with the path to this notebook.

You should not need to change anything in this notebook. In fact, you shouldn't need to look at it...



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##On CLI under sudo
#!pip3 install 'git+https://github.com/Troxid/vrep-api-python'



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import os

if "VREP_VM" in os.environ:
    os.environ["VREP"]='/opt/V-REP_PRO_EDU_V3_4_0_Linux'
    os.environ["VREP_LIBRARY"]=os.environ["VREP"]+'/programming/remoteApiBindings/lib/lib/64Bit/'
else:
    os.environ["VREP"]='/Applications/V-REP_PRO_EDU_V3_4_0_Mac'
    os.environ["VREP_LIBRARY"]=os.environ["VREP"]+'/programming/remoteApiBindings/lib/lib/'



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def show_methods(c):
    if type(c) != type: c=type(c)
    methods = [method for method in dir(c) if not method.startswith('_')]
    print('Methods available in {}:\n\t{}'.format(c.__name__ , '\n\t'.join(methods)))



In [ ]:

    
def show_attributes(r):
    print('State elements for the {}:\n\t{}'.format(type(r).__name__ ,
                                                    '\n\t'.join(list(vars(r).keys()))))



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from pyrep import VRep
from pyrep.vrep import vrep as vrep

from __future__ import print_function
from IPython.core.magic import (Magics, magics_class, line_magic,
                                cell_magic, line_cell_magic)
import shlex

# The class MUST call this class decorator at creation time
@magics_class
class Vrep_Sim(Magics):

    @cell_magic
    def vrepsim(self, line, cell):
        "V-REP magic"
        
        args=shlex.split(line)
        
        if len(args)>1:
            #Use shlex.split to handle quoted strings containing a space character
            loadSceneRelativeToClient(args[0])
            #Get the robot class from the string
            robotclass=eval(args[1])
        else:
            #Get the robot class from the string
            robotclass=eval(args[0])
        
        #Handle default IP address and port settings; grab from globals if set
        ip = self.shell.user_ns['vrep_ip'] if 'vrep_ip' in self.shell.user_ns else '127.0.0.1'
        port = self.shell.user_ns['vrep_port'] if 'vrep_port' in self.shell.user_ns else 19997
        
        #The try/except block exits form a keyboard interrupt cleanly
        try:
            #Create a connection to the simulator
            with VRep.connect(ip, port) as api:
                #Set the robot variable to an instance of the desired robot class
                robot = robotclass(api)
                #Execute the cell code - define robot commands as calls on: robot
                exec(cell)
        except KeyboardInterrupt:
            pass

    #@line_cell_magic
    @line_magic
    def vrep_robot_methods(self, line):
        "Show methods"
        robotclass = eval(line)
        methods = [method for method in dir(robotclass) if not method.startswith('_')]
        print('Methods available in {}:\n\t{}'.format(robotclass.__name__ , '\n\t'.join(methods)))

#Could install as magic separately
ip = get_ipython()
ip.register_magics(Vrep_Sim)