v-rep python

Simple python binding for Coppelia Robotics V-REP simulator (remote API) of version 3.5.0 rev4

Getting started

Requirements: CPython version >= 3.5.2, pip

Install library from PyPI by entering this command:

[sudo] pip install 'git+https://github.com/Troxid/vrep-api-python'

V-Rep specific

Package needs platform-specific native library (remoteApi). It uses two enviroment variables VREP and VREP_LIBRARY. If VREP is unspecified package will use default /usr/share/vrep for it. If VREP_LIBRARY is also unspecified, then it will concatenate VREP with programming/remoteApiBindings/lib/lib/64Bit/. This setup was test tested under LINUX ONLY. We are open for debug under Windows.

For windows users: NOT TESTED

To use package you will need the socket port number, which can be located in V-REP/remoteApiConnections.txt.

Currently implemented things

In the current version is not implemented features such as remote management GUI, additional configuration properties of objects and shapes, etc. Basically implemented those components that are required to control the robot:

Joint
Proximity sensor
Vision sensor
Force sensor
Position sensor (used for that dummy or shape object)
~~Remote function calls~~

Example

Designed to be used with examples/Pioneer.ttt.

from pyrep import VRep
import time

class PioneerP3DX:

    def __init__(self, api: VRep):
        self._api = api
        self._left_motor = api.joint.with_velocity_control("Pioneer_p3dx_leftMotor")
        self._right_motor = api.joint.with_velocity_control("Pioneer_p3dx_rightMotor")
        self._left_sensor = api.sensor.proximity("Pioneer_p3dx_ultrasonicSensor3")
        self._right_sensor = api.sensor.proximity("Pioneer_p3dx_ultrasonicSensor6")

    def rotate_right(self, speed=2.0):
        self._set_two_motor(speed, -speed)

    def rotate_left(self, speed=2.0):
        self._set_two_motor(-speed, speed)

    def move_forward(self, speed=2.0):
        self._set_two_motor(speed, speed)

    def move_backward(self, speed=2.0):
        self._set_two_motor(-speed, -speed)

    def _set_two_motor(self, left: float, right: float):
        self._left_motor.set_target_velocity(left)
        self._right_motor.set_target_velocity(right)

    def right_length(self):
        return self._right_sensor.read()[1].distance()

    def left_length(self):
        return self._left_sensor.read()[1].distance()

with VRep.connect("127.0.0.1", 19997) as api:
    r = PioneerP3DX(api)
    while True:
        rl = r.right_length()
        ll = r.left_length()
        if rl > 0.01 and rl < 10:
            r.rotate_left()
        elif ll > 0.01 and ll < 10:
            r.rotate_right()
        else:
            r.move_forward()
        time.sleep(0.1)

License

This program 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 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

Troxid / vrep-api-python