Python API Recommendations

[mattyc_56]

Hi!

So I am doing a final year project and I have been asked to integrate my simulation with Python somewhat. My simulation is a pretty basic pick and place experiment using IK.

I'm sorry, I know this is a very broad question but I'm just looking for some relatively simple suggestions on what I could do with Python? Any suggestions would be welcome!

Thanks a mill!

[fferri]

Did you read about Remote API?

[mattyc_56]

Hi,

Sorry i didn't see the reply until now!

Yes, so this is what I have so far:

From my python script I connect to CoppeliaSim, start the simulation, and import a set of fingers and attach them to the robot.

The below threaded child script controlls my robots movements:
(I am moving an object 100 times and using a force sensor to measure the number of successful movements)

However, I now need to be fit to start this movement from a call in my python script as my robot must remain still when the simulation starts and await attachment of the fingers, then complete this movement and the final step is to send the number of SUCCESSES (successCnt) to python so it can determine whether a second set of fingers is needed? Does this make sense?

So my question now is how can I start, or is it possible to start, a function sysCall_threadmain() from a python script?

Thank you very much!

Code: Select all

function sysCall_threadmain()
    for loop=1,100,1 do
    
	-- Make sure gripper is open
        setGripperData(true)
    -- Follow the InterimPickupPath
        sim.followPath(targetDummy,InterimPickupPath,3,0,vel,accel)	
    -- Follow the PickupPath   
        sim.followPath(targetDummy,pickupPath,3,0,vel,accel)
    -- Get the force on the LH Force Sensor and print it
        r,f,torque=sim.readForceSensor(LHForceSensor)
        print(f[2])
    -- Connection Process
        sim.wait(2)
        setGripperData(false)   
        sim.wait(5)
	-- Follow back the pickup path
        sim.followPath(targetDummy,pickupPath,3,1,-vel,-accel)
    -- Follow CentrePath  
        sim.followPath(targetDummy,CentrePath,3,0,vel,accel)
        sim.wait(0.5)
        r,f,torque=sim.readForceSensor(LHForceSensor)
        print(f[2])
    -- Follow releasePath
        sim.followPath(targetDummy,releasePath,3,0,vel,accel)
    -- Wait 2 seconds
        sim.wait(2)
    -- Get the force on the LH Force Sensor and print it
        r,f,torque=sim.readForceSensor(LHForceSensor)
        r1,f1,torque1=sim.readForceSensor(RHForceSensor)
        print(f[2])
        print(f1[2])
        AbsoluteYForce = math.abs(f1[2])
    -- If the force in the y direction is greater than 1 (signifies successful grip)   
    -- Count as a successful grip 
    
        if AbsoluteYForce>1 then
        
            successCnt=successCnt+1

            end
            
        print(successCnt, loop)
        
    -- Disconnect / open the gripper    
        sim.wait(1)
        setGripperData(true)
    -- Wait 2 seconds 
        sim.wait(5)
	-- Follow releasePath
        sim.followPath(targetDummy,releasePath,3,1,-vel,-accel)
        sim.wait(1)
    -- Return the ObjectToBePicked to the starting position to run again
        sim.setObjectPosition(ObjectToBePicked,-1,ObjectStartingPosition)
        sim.setObjectOrientation(ObjectToBePicked,-1,ObjectStartingOrientation)
    -- Follow InterimReleasePath
        sim.followPath(targetDummy,InterimReleasePath,3,1,-vel,-accel)

    end 
 
sim.stopSimulation()
         
end 

[mattyc_56]

Hi,

I put a sim.waitForSignal at the start of the function sysCall_threadmain() and then set this signal elsewhere so I can give it this signal when it suits me.

This is working for me anyway, but if you have any better suggestions, that would be great, but I think this should do.

Thanks!