import sim as vrep
import math
import random
import time
import keyboard
print ('Start')
# Close eventual old connections
vrep.simxFinish(-1)
# Connect to V-REP remote server
clientID = vrep.simxStart('192.168.0.12', 19997, True, True, 5000, 5)
if clientID != -1:
print ('Connected to remote API server')
res = vrep.simxAddStatusbarMessage(
clientID, "40823210",
vrep.simx_opmode_oneshot)
if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
print("Could not add a message to the status bar.")
opmode = vrep.simx_opmode_oneshot_wait
vrep.simxStartSimulation(clientID, opmode)
ret,DOOR_handle=vrep.simxGetObjectHandle(clientID,"joint4",opmode)
ret,C1_handle=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
ret,B1_handle=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
ret,SP5_handle=vrep.simxGetObjectHandle(clientID,"joint",opmode)
ret,S1_1_handle=vrep.simxGetObjectHandle(clientID,"S1_1",opmode)
ret,S2_1_handle=vrep.simxGetObjectHandle(clientID,"S2_1",opmode)
ret,S3_1_handle=vrep.simxGetObjectHandle(clientID,"S3_1",opmode)
ret,S4_1_handle=vrep.simxGetObjectHandle(clientID,"S4_1",opmode)
ret,S5_1_handle=vrep.simxGetObjectHandle(clientID,"S5_1",opmode)
ret,S6_1_handle=vrep.simxGetObjectHandle(clientID,"S6_1",opmode)
ret,S7_1_handle=vrep.simxGetObjectHandle(clientID,"S7_1",opmode)
ret,S8_1_handle=vrep.simxGetObjectHandle(clientID,"S8_1",opmode)
ret,S9_1_handle=vrep.simxGetObjectHandle(clientID,"S9_1",opmode)
ret,S10_1_handle=vrep.simxGetObjectHandle(clientID,"S10_1",opmode)
#ret,main = vrep.simxGetObjectHandle(clientID, "main", opmode)
while True:
#keyboard "5"
if keyboard.is_pressed("5"):
vrep.simxSetJointTargetVelocity(clientID,SP5_handle,1,opmode)
#keyboard "space"
if keyboard.is_pressed("space"):
vrep.simxSetJointTargetVelocity(clientID,SP5_handle,0,opmode)
#keyboard "O"
if keyboard.is_pressed("O"):
vrep.simxSetJointTargetVelocity(clientID,S1_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S2_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S3_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S4_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S5_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S6_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S7_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S8_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S9_1_handle,100,opmode)
vrep.simxSetJointTargetVelocity(clientID,S10_1_handle,100,opmode)
#keyboard "W"
if keyboard.is_pressed("W"):
vrep.simxSetJointTargetVelocity(clientID,C1_handle,1,opmode)
vrep.simxSetJointTargetVelocity(clientID,B1_handle,2,opmode)
#keyboard "E"
if keyboard.is_pressed("E"):
vrep.simxSetJointTargetVelocity(clientID,C1_handle,0,opmode)
vrep.simxSetJointTargetVelocity(clientID,B1_handle,0,opmode)
#keyboard "S"
if keyboard.is_pressed("S"):
vrep.simxSetJointTargetVelocity(clientID,C1_handle,-1,opmode)
vrep.simxSetJointTargetVelocity(clientID,B1_handle,-2,opmode)
#keyboard "Z"
if keyboard.is_pressed("Z"):
vrep.simxSetJointTargetVelocity(clientID,DOOR_handle,1000,opmode)
#keyboard "X"
if keyboard.is_pressed("X"):
vrep.simxSetJointTargetVelocity(clientID,DOOR_handle,0,opmode)
#keyboard "C"
if keyboard.is_pressed("C"):
vrep.simxSetJointTargetVelocity(clientID,DOOR_handle,-1.5,opmode)
#keyboard "esc"
if keyboard.is_pressed("esc"):
vrep.simxStopSimulation(clientID, opmode)
break
else:
print ('Failed connecting to remote API server')
print ('End')