Initial commit.

Author: ixjlyons

.gitignore

@@ -0,0 +1,9 @@
+*.pyc
+/dist/
+/*.egg-info
+/env*
+/build/
+/.eggs/
+
+
+*.swp

LICENSE

@@ -0,0 +1,19 @@
+=====
+vwrap
+=====
+
+High-level wrapper for controlling `V-REP`_ simulations with Python.
+
+
+Locating the Remote API Library
+-------------------------------
+
+The (slightly modified) Python bindings to the `remote API`_ packaged
+with V-REP itself are included here to simplify usage. The modifications make
+it somewhat easier to load the remote API library. Instead of looking for the
+binary in the current directory, the library looks for a ``VREP``  environment
+variable, which should be set to the root directory of the v-rep install.
+
+
+.. _V-REP: http://www.coppeliarobotics.com/
+.. _remote API: http://www.coppeliarobotics.com/helpFiles/en/remoteApiOverview.htm

README.rst

@@ -0,0 +1,26 @@
+"""
+Demonstrates basic usage of vwrap including simulation state control, and
+control of joints in the example scene.
+"""
+
+import sys
+import time
+import math
+
+try:
+    import vwrap
+except:
+    sys.path.insert(0, '..')
+    import vwrap
+
+
+if __name__ == '__main__':
+    with vwrap.VrepSimulation() as sim:
+        ts = time.time()
+        scene = vwrap.Scene(sim.client_id)
+
+        joint = scene.get_joint("Jaco_joint2")
+        joint.position = joint.initial_position + math.radians(-10)
+        joint.update()
+
+        time.sleep(2)

examples/test.py

@@ -0,0 +1,35 @@
+from setuptools import setup, find_packages
+from os import path
+
+def readme():
+    with open('README.rst') as f:
+        return f.read()
+
+setup(
+    name='vwrap',
+    version='0.1.0',
+
+    description='',
+    long_description=readme(),
+
+    url='https://github.com/ucdrascal/vwrap',
+
+    author='Kenneth Lyons',
+    author_email='[email protected]',
+
+    license='GPLv3',
+
+    classifiers = [
+        'Development Status :: 4 - Beta',
+        'Intended Audience :: Science/Research',
+        'License :: OSI Approved :: GNU General Public License v3 (GPLv3)',
+        'Natural Language :: English',
+        'Operating System :: OS Independent',
+        'Programming Language :: Python :: 2',
+        'Programming Language :: Python :: 3'
+    ],
+
+    keywords='vrep robotics simulation',
+
+    packages=find_packages()
+)

examples/test_scene.ttt

@@ -0,0 +1 @@
+from vwrap.wrapper import *

setup.py

@@ -0,0 +1,56 @@
+# Copyright (C) 2016 Kenneth Lyons <[email protected]>
+#
+# This file is part of vwrap.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program 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 General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+import os
+import platform
+import ctypes
+
+
+def load_library():
+    """
+    Attempts to locate and load the v-rep remote API library via a VREP
+    environment variable, which is expected to describe the root installation
+    directory of v-rep.
+    """
+    try:
+        vrep_dir = os.environ['VREP']
+    except KeyError:
+        raise EnvVarNotSetError("VREP environment variable not set")
+
+    lib_dir = os.path.join(
+        vrep_dir, 'programming', 'remoteApiBindings', 'lib', 'lib')
+
+    if platform.architecture()[0] == '64bit':
+        lib_dir = os.path.join(lib_dir, '64Bit')
+    else:
+        lib_dir = os.path.join(lib_dir, '32Bit')
+
+    if platform.system() == 'cli':
+        lib_name = 'remoteApi.dll'
+    elif platform.system() == 'Windows':
+        lib_name = 'remoteApi.dll'
+    elif platform.system() == 'Darwin':
+        lib_name = 'remoteApi.dylib'
+    else:
+        lib_name = 'remoteApi.so'
+    lib_path = os.path.join(lib_dir, lib_name)
+
+    return ctypes.CDLL(lib_path)
+
+
+class EnvVarNotSetError(RuntimeError):
+    pass