python

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.