[DQ_CoppeliaSimInterfaceZMQ_py.cpp] Added DQ_CoppeliaSimInterfaceZMQ …

…python binding and module.
dqrobotics · Nov 26, 2024 · bdded28 · bdded28
1 parent 72d7e53
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -150,6 +150,6 @@ pybind11_add_module(_dqrobotics
     interfaces/cpp-interface-coppeliasim-zmq/submodules/zmqRemoteApi/clients/cpp/RemoteAPIClient.cpp
     interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/internal/_zmq_wrapper.cpp
     interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
-    interfaces/cpp-interface-coppeliasim-zmq/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.cpp
+    src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp
 )
 
diff --git a/dqrobotics/interfaces/coppeliasim/__init__.py b/dqrobotics/interfaces/coppeliasim/__init__.py
@@ -0,0 +1,26 @@
+"""
+# Copyright (c) 2019-2022 DQ Robotics Developers
+#
+#    This file is part of DQ Robotics.
+#
+#    DQ Robotics is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    DQ Robotics 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 Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with DQ Robotics.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Contributors:
+#   - Murilo M. Marinho, email: [email protected]
+#
+# ################################################################
+"""
+from dqrobotics._dqrobotics._interfaces._coppeliasim import *
diff --git a/setup.py b/setup.py
@@ -111,6 +111,7 @@ def build_extension(self, ext):
               'dqrobotics.interfaces.vrep',
               'dqrobotics.interfaces.vrep.robots',
               'dqrobotics.interfaces.json11',
+              'dqrobotics.interfaces.coppeliasim',
               'dqrobotics.robot_control',
               'dqrobotics.solvers'],
     classifiers=[

diff --git a/src/dqrobotics_module.h b/src/dqrobotics_module.h
@@ -70,6 +70,8 @@ namespace py = pybind11;
 #include <dqrobotics/interfaces/vrep/robots/YouBotVrepRobot.h>
 #include <dqrobotics/interfaces/vrep/robots/FrankaEmikaPandaVrepRobot.h>
 
+#include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.h>
+
 #include <dqrobotics/interfaces/json11/DQ_JsonReader.h>
 
 using namespace DQ_robotics;
@@ -112,6 +114,9 @@ void init_DQ_VrepInterface_py(py::module& m);
 void init_DQ_VrepRobot_py(py::module& m);
 void init_DQ_SerialVrepRobot_py(py::module& m);
 
+//dqrobotics/interfaces/coppeliasim
+void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m);
+
 //dqrobotics/interfaces/json11
 void init_DQ_JsonReader_py(py::module& m);
 

diff --git a/src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp b/src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp
@@ -0,0 +1,103 @@
+/**
+(C) Copyright 2019-2024 DQ Robotics Developers
+
+This file is part of DQ Robotics.
+
+    DQ Robotics is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Lesser General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    DQ Robotics 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 Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public License
+    along with DQ Robotics.  If not, see <http://www.gnu.org/licenses/>.
+
+Contributors:
+1.  Murilo M. Marinho        ([email protected])
+        - Initial implementation.
+
+*/
+
+#include "../../dqrobotics_module.h"
+
+//Default arguments added with:
+//https://pybind11.readthedocs.io/en/stable/basics.html#default-args
+
+void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
+{
+    /*****************************************************
+     *  VrepInterface
+     * **************************************************/
+    py::class_<
+            DQ_CoppeliaSimInterfaceZMQ,
+            std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ>
+            > dqcsinterfacezmq_py(m,"DQ_CoppeliaSimInterfaceZMQ");
+    dqcsinterfacezmq_py.def(py::init<>());
+
+    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.");
+
+    dqcsinterfacezmq_py.def("disconnect",    &DQ_CoppeliaSimInterfaceZMQ::disconnect,"Disconnects from CoppeliaSim.");
+    dqcsinterfacezmq_py.def("disconnect_all",&DQ_CoppeliaSimInterfaceZMQ::disconnect_all,"Disconnect all from CoppeliaSim");
+
+    dqcsinterfacezmq_py.def("start_simulation",&DQ_CoppeliaSimInterfaceZMQ::start_simulation,"Start simulation");
+    dqcsinterfacezmq_py.def("stop_simulation", &DQ_CoppeliaSimInterfaceZMQ::stop_simulation,"Stops simulation");
+
+    dqcsinterfacezmq_py.def("set_synchronous", (void (DQ_CoppeliaSimInterfaceZMQ::*) (const bool&))&DQ_CoppeliaSimInterfaceZMQ::set_synchronous, "Sets synchronous mode");
+
+    dqcsinterfacezmq_py.def("trigger_next_simulation_step", &DQ_CoppeliaSimInterfaceZMQ::trigger_next_simulation_step, "Sends a synchronization trigger signal to the server.");
+
+    dqcsinterfacezmq_py.def("wait_for_simulation_step_to_end", &DQ_CoppeliaSimInterfaceZMQ::wait_for_simulation_step_to_end, "Waits until the simulation step is finished.");
+
+    dqcsinterfacezmq_py.def("get_object_translation",
+                           (DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_translation,
+                           "Gets object translation.");
+
+    dqcsinterfacezmq_py.def("set_object_translation",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_translation,
+                           "Sets object translation.");
+
+    dqcsinterfacezmq_py.def("get_object_rotation",
+                           (DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_rotation,
+                           "Gets object rotation.");
+
+    dqcsinterfacezmq_py.def("set_object_rotation",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&))&DQ_CoppeliaSimInterfaceZMQ::set_object_rotation,
+                           "Sets object rotation.");
+
+    dqcsinterfacezmq_py.def("get_object_pose",
+                           (DQ (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::get_object_pose,
+                           "Gets object pose.");
+
+    dqcsinterfacezmq_py.def("set_object_pose",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_pose,
+                           "Sets object pose.");
+
+    dqcsinterfacezmq_py.def("set_joint_position",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&::DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
+                           "Set joint position");
+
+    dqcsinterfacezmq_py.def("set_joint_target_position",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_positions,
+                           "Set joint target position");
+
+    dqcsinterfacezmq_py.def("get_joint_position",
+                           (double (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&))&::DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
+                           "Get joint position");
+
+    dqcsinterfacezmq_py.def("set_joint_positions",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
+                           "Set joint positions");
+
+    dqcsinterfacezmq_py.def("set_joint_target_positions",
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_positions,
+                           "Set joint positions");
+
+    dqcsinterfacezmq_py.def("get_joint_positions",
+                           (VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
+                           "Get joint positions");
+
+}