CoppeliaSim forums

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check=0
PI=math.pi  #pi=3.14

vrep.simxFinish(-1) # Close all opened connections

clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5)

if clientID!=-1:  #check if client connection successful
    print 'Connected to remote API server'
    
else:
    print 'Connection not successful'
    sys.exit('Could not connect with Vrep')

#retrieve motor  handles
errorCode,leftMotorHandle=vrep.simxGetObjectHandle(clientID,'dr12_leftJoint_',vrep.simx_opmode_oneshot_wait)
errorCode,rightMotorHandle=vrep.simxGetObjectHandle(clientID,'dr12_rightJoint_',vrep.simx_opmode_oneshot_wait)
errorCode,bumperSensorHandle=vrep.simxGetObjectHandle(clientID,'dr12_bumperForceSensor_',vrep.simx_opmode_blocking)

result,state,f,t=vrep.simxReadForceSensor(clientID,bumperSensorHandle,vrep.simx_opmode_streaming) #result =-1 (sensor fail), t:torque, f:force
if (result>0):
    if (math.abs(f[2])>1) or (math.abs(f[3])>1):
            check =1
            print('check',check)    
if (check==1):
        vrep.simxSetJointTargetVelocity(leftMotorHandle, 0)
        vrep.simxSetJointTargetVelocity(rightMotorHandle,0)
else:
        vrep.simSetJointTargetVelocity(leftMotorHandle,10)
        vrep.simSetJointTargetVelocity(rightMotorHandle,10)
        print('without collision',leftJointHandle)

Code: Select all

result,state,f,t=vrep.simxReadForceSensor(clientID,bumperSensorHandle,vrep.simx_opmode_streaming) #result =-1 (sensor fail), t:torque, f:force