Remaining todo: fast planning and opengl3 vision sensors

.gitignore

@@ -99,3 +99,4 @@ ENV/
 .mypy_cache/
 
 pyrep/backend/_sim_cffi*
+system/

README.md

@@ -5,6 +5,7 @@ __PyRep is a toolkit for robot learning research, built on top of [CoppeliaSim](
 
 __Announcement!__
 PyRep has undergone a __MAJOR__ update, and is now compatible with the most recent version of CoppeliaSim. Most importantly, it now has Mac and Windows support!
+Note: Support for mobile bases has temporality been removed as part of the update.
 
 
 - [Install](#install)
@@ -46,15 +47,6 @@ Try running one of the examples in the *examples/* folder.
 
 _Although you can use CoppeliaSim on any platform, communication via PyRep is currently only supported on Linux._
 
-#### Troubleshooting
-
-Below are some problems you may encounter during installation. If none of these solve your problem, please raise an issue.
-
-- ModuleNotFoundError: No module named 'pyrep.backend._v_rep_cffi'
-  - If you are getting this error, then please check that you are not running the interpreter from the project root. If you are, then your Python interpreter will try to import those files rather the installed files.
-- error: command 'x86_64-linux-gnu-gcc' failed
-  - You may be missing packages needed for building python extensions. Try: `sudo apt-get install python3-dev`, and then re-run the installation.
-
 ## Running Headless
 
 You can run PyRep/CoppeliaSim headlessly with VirtualGL. VirtualGL is an open source toolkit that gives any Unix or Linux remote display software the ability to run OpenGL applications **with full 3D hardware acceleration**.

examples/example_baxter_pick_and_pass.py

@@ -20,8 +20,8 @@
 
 baxter_left = BaxterLeft()
 baxter_right = BaxterRight()
-baxter_gripper_left = BaxterGripper(0)
-baxter_gripper_right = BaxterGripper(1)
+baxter_gripper_left = BaxterGripper(proxy=baxter_left.joints[0])
+baxter_gripper_right = BaxterGripper(proxy=baxter_right.joints[0])
 
 cup = Shape("Cup")
 waypoints = [Dummy("waypoint%d" % i) for i in range(7)]

pyrep/objects/joint.py

@@ -1,4 +1,4 @@
-from typing import Tuple, List, Union
+from typing import Tuple, List
 from pyrep.backend import sim_const as simc
 from pyrep.backend import utils
 from pyrep.backend.sim import SimBackend
@@ -14,9 +14,6 @@ class Joint(Object):
     screws and spherical joints.
     """
 
-    def __init__(self, name_or_handle: Union[str, int]):
-        super().__init__(name_or_handle)
-
     def _get_requested_type(self) -> ObjectType:
         return ObjectType.JOINT
 

pyrep/objects/object.py

@@ -5,7 +5,6 @@
 from pyrep.const import ObjectType
 from pyrep.errors import (
     WrongObjectTypeError,
-    CoppeliaSimError,
     ObjectIsNotModelError,
     ObjectAlreadyRemovedError,
 )
@@ -22,15 +21,29 @@ class Object(object):
     Objects are visible in the scene hierarchy and in the scene view.
     """
 
-    def __init__(self, name_or_handle: Union[str, int]):
+    def __init__(
+        self, name_or_handle: Union[str, int], index: int = 0, proxy: "Object" = None
+    ):
         self._sim_api = SimBackend().sim_api
         if isinstance(name_or_handle, int):
             self._handle = name_or_handle
         else:
+            extra = {}
+            prefix = "/"
+            if index > 0:
+                extra["index"] = 0
+            if proxy is not None:
+                prefix = "./"
+                extra["proxy"] = proxy.get_handle()
             try:
-                self._handle = self._sim_api.getObjectHandle(name_or_handle)
-            except CoppeliaSimError:
-                raise ValueError(f"Object with name '{name_or_handle}' not found!")
+                self._handle = self._sim_api.getObject(name_or_handle, extra)
+            except Exception:
+                try:
+                    self._handle = self._sim_api.getObject(
+                        prefix + name_or_handle, extra
+                    )
+                except Exception:
+                    raise ValueError(f"Object with name '{name_or_handle}' not found!")
         assert_type = self._get_requested_type()
         actual = ObjectType(self._sim_api.getObjectType(self._handle))
         if actual != assert_type:
@@ -56,7 +69,7 @@ def exists(name: str) -> bool:
         sim_api = SimBackend().sim_api
         handle = -1
         try:
-            handle = sim_api.getObjectHandle(name)
+            handle = sim_api.getObject("/" + name)
         except Exception:
             pass
         return handle >= 0
@@ -70,7 +83,7 @@ def get_object_type(name_or_handle: Union[int, str]) -> ObjectType:
         sim_api = SimBackend().sim_api
         handle = name_or_handle
         if not isinstance(name_or_handle, int):
-            handle = sim_api.getObjectHandle(name_or_handle)
+            handle = sim_api.getObject("/" + name_or_handle)
         return ObjectType(sim_api.getObjectType(handle))
 
     @staticmethod
@@ -129,11 +142,11 @@ def get_name(self) -> str:
 
         :return: The objects name.
         """
-        return self._sim_api.getObjectName(self._handle)
+        return self._sim_api.getObjectAlias(self._handle, -1)
 
     def set_name(self, name: str) -> None:
         """Sets the objects name in the scene."""
-        self._sim_api.setObjectName(self._handle, name)
+        self._sim_api.setObjectAlias(self._handle, name)
 
     def scale_object(self, scale_x: float, scale_y: float, scale_z: float) -> None:
         """Scales the object by the given amounts in the x, y, z axes

pyrep/objects/vision_sensor.py

@@ -1,5 +1,5 @@
 import math
-from typing import List, Union, Sequence
+from typing import List, Sequence
 from pyrep.backend.sim import SimBackend
 from pyrep.backend import sim_const as simc
 from pyrep.objects.object import Object, object_type_to_class
@@ -10,8 +10,8 @@
 class VisionSensor(Object):
     """A camera-type sensor, reacting to light, colors and images."""
 
-    def __init__(self, name_or_handle: Union[str, int]):
-        super().__init__(name_or_handle)
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
         self.resolution = self._sim_api.getVisionSensorRes(self._handle)
 
     @staticmethod

pyrep/pyrep.py

@@ -279,14 +279,6 @@ def get_objects_in_tree(self, root_object=None, *args, **kwargs) -> List[Object]
         """
         return Object._get_objects_in_tree(root_object, *args, **kwargs)
 
-    def get_collection_handle_by_name(self, collection_name: str) -> int:
-        """Retrieves the integer handle for a given collection.
-
-        :param collection_name: Name of the collection to retrieve the integer handle.
-        :return: An integer handle for the collection.
-        """
-        return self._sim_api.getCollectionHandle(collection_name)
-
     def set_configuration_tree(self, config_tree: bytes) -> None:
         """Restores configuration information previously retrieved.