Client for the CoppeliaSim's zmqRemoteApi (protocol version 2)
Project description
CoppeliaSim zmqRemoteApi Python client
Python client for the zmqRemoteApi, protocol verison 2 (note: starting from pip package version 2.x, the major version number (e.g. 2) matches with the protocol version used by CoppeliaSim).
Installing:
python3 -m pip install coppeliasim-zmqremoteapi-client
Usage
from coppeliasim_zmqremoteapi_client import *
# create a client to connect to zmqRemoteApi server:
# (creation arguments can specify different host/port,
# defaults are host='localhost', port=23000)
client = RemoteAPIClient()
# get a remote object:
sim = client.require('sim')
# call API function:
h = sim.getObject('/Floor')
print(h)
There is also an asyncio
version of the client. Normal asyncio
principles apply, and all methods are async:
from coppeliasim_zmqremoteapi_client.asyncio import *
client = RemoteAPIClient()
async def main():
async with RemoteAPIClient() as client:
sim = await client.require('sim')
h = await sim.getObject('/Floor')
print(h)
asyncio.run(main())
on Windows, if it doesn't work properly, before calling asyncio.run(...)
call:
asyncio.set_event_loop_policy(asyncio.WindowsSelectorEventLoopPolicy())
A note about performance of sequential requests: if performing many commands in one shot, and results will be used later, consider using asyncio.gather
for improved throughput.
E.g. getting the handles of 100 objects:
handles = await asyncio.gather(*[sim.getObject(f'/Object{i+1}') for i in range(100)])
Also check out the examples in clients/python
.
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