Skip to content

Commit bdded28

Browse files
author
Murilo M. Marinho
committed
[DQ_CoppeliaSimInterfaceZMQ_py.cpp] Added DQ_CoppeliaSimInterfaceZMQ python binding and module.
1 parent 72d7e53 commit bdded28

File tree

5 files changed

+136
-1
lines changed

5 files changed

+136
-1
lines changed

‎CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -150,6 +150,6 @@ pybind11_add_module(_dqrobotics
150150
interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/RemoteAPIClient.cpp
151151
interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/internal/_zmq_wrapper.cpp
152152
interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
153-
interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.cpp
153+
src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp
154154
)
155155

‎dqrobotics/interfaces/coppeliasim/__init__.py

+26
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,26 @@
1+
"""
2+
# Copyright (c) 2019-2022 DQ Robotics Developers
3+
#
4+
# This file is part of DQ Robotics.
5+
#
6+
# DQ Robotics is free software: you can redistribute it and/or modify
7+
# it under the terms of the GNU Lesser General Public License as published by
8+
# the Free Software Foundation, either version 3 of the License, or
9+
# (at your option) any later version.
10+
#
11+
# DQ Robotics is distributed in the hope that it will be useful,
12+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
13+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14+
# GNU Lesser General Public License for more details.
15+
#
16+
# You should have received a copy of the GNU Lesser General Public License
17+
# along with DQ Robotics. If not, see <https://www.gnu.org/licenses/>.
18+
#
19+
# ################################################################
20+
#
21+
# Contributors:
22+
# - Murilo M. Marinho, email: [email protected]
23+
#
24+
# ################################################################
25+
"""
26+
from dqrobotics._dqrobotics._interfaces._coppeliasim import *

‎setup.py

+1
Original file line numberDiff line numberDiff line change
@@ -111,6 +111,7 @@ def build_extension(self, ext):
111111
'dqrobotics.interfaces.vrep',
112112
'dqrobotics.interfaces.vrep.robots',
113113
'dqrobotics.interfaces.json11',
114+
'dqrobotics.interfaces.coppeliasim',
114115
'dqrobotics.robot_control',
115116
'dqrobotics.solvers'],
116117
classifiers=[

‎src/dqrobotics_module.h

+5
Original file line numberDiff line numberDiff line change
@@ -70,6 +70,8 @@ namespace py = pybind11;
7070
#include <dqrobotics/interfaces/vrep/robots/YouBotVrepRobot.h>
7171
#include <dqrobotics/interfaces/vrep/robots/FrankaEmikaPandaVrepRobot.h>
7272

73+
#include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.h>
74+
7375
#include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
7476

7577
using namespace DQ_robotics;
@@ -112,6 +114,9 @@ void init_DQ_VrepInterface_py(py::module& m);
112114
void init_DQ_VrepRobot_py(py::module& m);
113115
void init_DQ_SerialVrepRobot_py(py::module& m);
114116

117+
//dqrobotics/interfaces/coppeliasim
118+
void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m);
119+
115120
//dqrobotics/interfaces/json11
116121
void init_DQ_JsonReader_py(py::module& m);
117122

‎src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp

+103
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,103 @@
1+
/**
2+
(C) Copyright 2019-2024 DQ Robotics Developers
3+
4+
This file is part of DQ Robotics.
5+
6+
DQ Robotics is free software: you can redistribute it and/or modify
7+
it under the terms of the GNU Lesser General Public License as published by
8+
the Free Software Foundation, either version 3 of the License, or
9+
(at your option) any later version.
10+
11+
DQ Robotics is distributed in the hope that it will be useful,
12+
but WITHOUT ANY WARRANTY; without even the implied warranty of
13+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14+
GNU Lesser General Public License for more details.
15+
16+
You should have received a copy of the GNU Lesser General Public License
17+
along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.
18+
19+
Contributors:
20+
1. Murilo M. Marinho ([email protected])
21+
- Initial implementation.
22+
23+
*/
24+
25+
#include "../../dqrobotics_module.h"
26+
27+
//Default arguments added with:
28+
//https://pybind11.readthedocs.io/en/stable/basics.html#default-args
29+
30+
void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
31+
{
32+
/*****************************************************
33+
* VrepInterface
34+
* **************************************************/
35+
py::class_<
36+
DQ_CoppeliaSimInterfaceZMQ,
37+
std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ>
38+
> dqcsinterfacezmq_py(m,"DQ_CoppeliaSimInterfaceZMQ");
39+
dqcsinterfacezmq_py.def(py::init<>());
40+
41+
dqcsinterfacezmq_py.def("connect",(bool (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const int&, const int&, const int&))&DQ_CoppeliaSimInterfaceZMQ::connect,"Connects to CoppeliaSim with a given ip.");
42+
43+
dqcsinterfacezmq_py.def("disconnect", &DQ_CoppeliaSimInterfaceZMQ::disconnect,"Disconnects from CoppeliaSim.");
44+
dqcsinterfacezmq_py.def("disconnect_all",&DQ_CoppeliaSimInterfaceZMQ::disconnect_all,"Disconnect all from CoppeliaSim");
45+
46+
dqcsinterfacezmq_py.def("start_simulation",&DQ_CoppeliaSimInterfaceZMQ::start_simulation,"Start simulation");
47+
dqcsinterfacezmq_py.def("stop_simulation", &DQ_CoppeliaSimInterfaceZMQ::stop_simulation,"Stops simulation");
48+
49+
dqcsinterfacezmq_py.def("set_synchronous", (void (DQ_CoppeliaSimInterfaceZMQ::*) (const bool&))&DQ_CoppeliaSimInterfaceZMQ::set_synchronous, "Sets synchronous mode");
50+
51+
dqcsinterfacezmq_py.def("trigger_next_simulation_step", &DQ_CoppeliaSimInterfaceZMQ::trigger_next_simulation_step, "Sends a synchronization trigger signal to the server.");
52+
53+
dqcsinterfacezmq_py.def("wait_for_simulation_step_to_end", &DQ_CoppeliaSimInterfaceZMQ::wait_for_simulation_step_to_end, "Waits until the simulation step is finished.");
54+
55+
dqcsinterfacezmq_py.def("get_object_translation",
56+
(DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_translation,
57+
"Gets object translation.");
58+
59+
dqcsinterfacezmq_py.def("set_object_translation",
60+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_translation,
61+
"Sets object translation.");
62+
63+
dqcsinterfacezmq_py.def("get_object_rotation",
64+
(DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_rotation,
65+
"Gets object rotation.");
66+
67+
dqcsinterfacezmq_py.def("set_object_rotation",
68+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&))&DQ_CoppeliaSimInterfaceZMQ::set_object_rotation,
69+
"Sets object rotation.");
70+
71+
dqcsinterfacezmq_py.def("get_object_pose",
72+
(DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_pose,
73+
"Gets object pose.");
74+
75+
dqcsinterfacezmq_py.def("set_object_pose",
76+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_pose,
77+
"Sets object pose.");
78+
79+
dqcsinterfacezmq_py.def("set_joint_position",
80+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&::DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
81+
"Set joint position");
82+
83+
dqcsinterfacezmq_py.def("set_joint_target_position",
84+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_positions,
85+
"Set joint target position");
86+
87+
dqcsinterfacezmq_py.def("get_joint_position",
88+
(double (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&))&::DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
89+
"Get joint position");
90+
91+
dqcsinterfacezmq_py.def("set_joint_positions",
92+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
93+
"Set joint positions");
94+
95+
dqcsinterfacezmq_py.def("set_joint_target_positions",
96+
(void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_positions,
97+
"Set joint positions");
98+
99+
dqcsinterfacezmq_py.def("get_joint_positions",
100+
(VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
101+
"Get joint positions");
102+
103+
}

0 commit comments

Comments
 (0)