| struct |
|---|
| CS_Twist2D |
| CS_Pose2D |
| CS_WheelFloatValues |
| CS_Odometry |
| CS_Vector3 |
| CS_IMU |
| CS_Attitude |
| CS_BoundingBox |
CS_Twist2D = {float x= 0.0, float y= 0.0, float theta= 0.0}fields
- x Longitudinal linear speed [m/s], positive towards forward
- y Transversal linear speed [m/s], positive towards left
- theta Angular speed [rad/s] around the vertical axis
CS_Pose2D = {float x= 0.0, float y= 0.0, float theta= 0.0}fields
- x x-component of position [m]
- y y-component of position [m]
- theta orintation [rad]
A structure with one number per wheel
CS_WheelFloatValues = {float front_left= 0.0, float front_right= 0.0, float rear_left= 0.0, float rear_right= 0.0}fields
- front_left Front left wheel value
- front_right Front right wheel value
- rear_left Rear left wheel value
- rear_right Rear right wheel value
Odometry (pose and twist)
CS_Odometry = {CS_Pose2D pose, CS_Twist2D twist}fields
- pose The pose
- twist The twist
A 3D vector
CS_Vector3 = {float x, float y, float z}fields
- x x-component
- y y-component
- z z-component
IMU state
CS_IMU = {CS_Vector3 angular_velocity, CS_Vector3 acceleration}fields
- angular_velocity Angular velocity
- acceleration Acceleration
Attitude (Tait–Bryan)
CS_Attitude = {float yaw, float pitch, float roll}fields
- yaw Yaw [rad]
- pitch Pitch [rad]
- roll Roll [rad]
Bounding box in image frame of a detected object.
CS_BoundingBox = {float handle, float x, float y, float width, float height}fields
- handle The handle of the object.
- x Horizontal position in the image, normalized between 0 (left) and 1 (right)
- y Vertical position in the image, normalized between 0 (bottom) and 1 (top)
- width Width as fraction of the frame width
- height Height as fraction of the frame height
Instantiate a RoboMaster controller
int handle = simRobomaster.create(int handle, string remote_api_network="", string serial_number="", bool camera_use_udp=false, int camera_bitrate=1000000, bool enable_camera=true, bool enable_gripper=true, bool enable_arm=true, bool enable_gimbal=true, bool enable_vision=true)parameters
- handle The handle of the CoppeliaSim robot.
- remote_api_network The address that the remote API should use
"<ip>/<subnet size in bits>". E.g., use"127.0.0.1/24"for local network,"/0"to bind to any network interface. Leave empty to disable the remote API. - serial_number The robot serial number
- camera_use_udp Make the camera use UDP for streaming
- camera_bitrate The target bitrate for the camera stream
- enable_camera Enable the camera module
- enable_gripper Enable the camera module
- enable_arm Enable the robotic arm module
- enable_gimbal Enable the gimbal module
- enable_vision Enable the vision module
return
- handle An handle that identifies the RoboMaster controller
Instantiate a RoboMaster controller with the default configuration for EP:
enable_camera=true, camera_use_udp=false, camera_bitrate=1000000, enable_arm=true, enable_gripper=true, enable_gimbal=false, enable_vision=true
int handle = simRobomaster.create_ep(int handle, string remote_api_network="", string serial_number="")parameters
- handle The handle of the CoppeliaSim robot.
- remote_api_network The address that the remote API should use
"<ip>/<subnet size in bits>". E.g., use"127.0.0.1/24"for local network,"/0"to bind to any network interface. Leave empty to disable the remote API. - serial_number The robot serial number
return
- handle An handle that identifies the RoboMaster controller
Instantiate a RoboMaster controller with the default configuration for S1:
enable_camera=true, camera_use_udp=false, camera_bitrate=1000000, enable_arm=false, enable_gripper=false, enable_gimbal=true, enable_vision=true
int handle = simRobomaster.create_s1(int handle, string remote_api_network="", string serial_number="")parameters
- handle The handle of the CoppeliaSim robot.
- remote_api_network The address that the remote API should use
"<ip>/<subnet size in bits>". E.g., use"127.0.0.1/24"for local network,"/0"to bind to any network interface. Leave empty to disable the remote API. - serial_number The robot serial number
return
- handle An handle that identifies the RoboMaster controller
Set the chassis target twist (linear and angular velocity)
simRobomaster.set_target_twist(int handle, CS_Twist2D twist)parameters
- handle The RoboMaster controller handle
- twist The target twist
Get the chassis current twist estimation (linear and angular velocity)
CS_Twist2D twist = simRobomaster.get_twist(int handle)parameters
- handle The RoboMaster controller handle
return
- twist The current twist
Get the current wheel speeds estimation
CS_WheelFloatValues speeds = simRobomaster.get_wheel_speeds(int handle)parameters
- handle The RoboMaster controller handle
return
- speeds The current wheel speeds in m/s
Set the target wheel speeds
simRobomaster.set_target_wheel_speeds(int handle, CS_WheelFloatValues speeds)parameters
- handle The RoboMaster controller handle
- speeds The target wheel speeds in m/s
Get the current odometry state estimation
CS_Odometry odometry = simRobomaster.get_odometry(int handle)parameters
- handle The RoboMaster controller handle
return
- odometry The current odometry
Get the current IMU estimation
CS_IMU imu = simRobomaster.get_imu(int handle)parameters
- handle The RoboMaster controller handle
return
- imu The current IMU
Get the current attitude estimation
CS_Attitude attitude = simRobomaster.get_attitude(int handle)parameters
- handle The RoboMaster controller handle
return
- attitude The current attitude
Make the robot go to a target pose. This will create an possibly long running action.
int handle = simRobomaster.move_to(int handle, CS_Pose2D pose, float linear_speed=0.5, float angular_speed=1.0)parameters
- handle The RoboMaster controller handle
- pose The target pose
- linear_speed The desired linear speed
- angular_speed The angular linear speed
return
- handle The action handle
string status = simRobomaster.get_action_state(int handle, int action)parameters
- handle The RoboMaster controller handle
- action The action handle
return
- status The status of the action, one of
"failed","rejected","running","undefined","started"
Apply a LED effect
simRobomaster.set_led_effect(int handle, float r, float g, float b, string effect="on", int mask=0xFF, int led_mask=0xFF, float period_on=0.5, float period_off=0.5, bool loop=true)parameters
-
handle The RoboMaster controller handle
-
r The red intensity between 0 and 1
-
g The green intensity between 0 and 1
-
b The blue intensity between 0 and 1
-
effect The effect to apply, on of
"on","off","breath","flash","scrolling" -
mask A bit-mask to select LED: chassis back (0x1) chassis front (0x2) chassis left (0x4) chassis right (0x8) gimbal left (0x10) gimbal right (0x20)
-
led_mask A bit mask to select the individual portions of gimbal LEDs
-
period_on The duration of the on-time [ms]
-
period_off The duration of the off-time [ms]
-
loop Whever the effect should be repeated continously
Set the gripper target state
simRobomaster.set_gripper_target(int handle, string state, float power=0.5)parameters
- handle The RoboMaster controller handle
- state The target state, one of
"open","close","pause" - power The desired power level between 0 and 1
Get the gripper current state
string state = simRobomaster.get_gripper(int handle)parameters
- handle The RoboMaster controller handle
return
- state The current state, one of
"open","close","pause"
Get the robotic arm end effector current position estimation
CS_Vector3 position = simRobomaster.get_arm_position(int handle)parameters
- handle The RoboMaster controller handle
return
- position The current position
Make the robotic arm move the end effect to a target position
int handle = simRobomaster.move_arm(int handle, float x, float z, bool absolute)parameters
- handle The RoboMaster controller handle
- x The x-coordination of the target position [m]
- z The z-coordination of the target position [m]
- absolute Whenver to consider the position absolute with respect to the robot frame, or relative with respect to the current arm position
return
- handle The handle of the action
Set the camera module state
simRobomaster.enable_camera(int handle, bool enabled, string resolution="720p")parameters
- handle The RoboMaster controller handle
- enabled The camera state
- resolution The camera vertical resolution, one of
"480p","540p", and"720p"
Make the gimbal move to a target attitude
int handle = simRobomaster.move_gimbal(int handle, float yaw, float pitch, float yaw_speed, float pitch_speed, string yaw_frame="chassis", string pitch_frame="fixed")parameters
- handle The RoboMaster controller handle
- yaw The target yaw [rad]
- pitch The target pitch [rad]
- yaw_speed The desired yaw speed [rad/s]
- pitch_speed The desired pitch speed [rad/s]
- yaw_frame The target yaw frame, one of
"chassis","fixed", or"gimbal" - pitch_frame The target pitch frame, one of
"fixed"or"gimbal"
return
- handle The action handle
Get the current gimbal state estimation
float yaw, float pitch = simRobomaster.get_gimbal_angles(int handle, string yaw_frame="chassis", string pitch_frame="fixed")parameters
- handle The RoboMaster controller handle
- yaw_frame The yaw frame, one of
"chassis","fixed", or"gimbal" - pitch_frame The pitch frame, one of
"fixed"or"gimbal"
return
- yaw The current yaw [rad]
- pitch The current pitch [rad]
Set the gimbal target angular speeds
simRobomaster.set_gimbal_target_speeds(int handle, float yaw, float pitch)parameters
- handle The RoboMaster controller handle
- yaw The target yaw speed [rad/s]
- pitch The target pitch speed [rad/s]
Get the current servo angle estimation
float angle = simRobomaster.get_servo_angle(int handle, int servo)parameters
- handle The RoboMaster controller handle
- servo The index of the servo (0, 1, 2)
return
- angle The current servo angle [rad]
Set the gimbal state
simRobomaster.enable_gimbal(int handle, bool value)parameters
- handle The RoboMaster controller handle
- value Set to true to enable the gimbal motors, set to false to disable them
Set the intensity of the blaster LED
simRobomaster.set_blaster_led(int handle, float intensity)parameters
- handle The RoboMaster controller handle
- intensity The intensity between 0 (off) and 1
Make the robot move one of the servo motors to a target angle
int handle = simRobomaster.move_servo(int handle, int servo, float angle)parameters
- handle The RoboMaster controller handle
- servo The index of the servo (0, 1, 2)
- angle The target angle [rad]
return
- handle The handle of the action
Set the target speed of one the servo motors
simRobomaster.set_servo_target_speed(int handle, int servo, float speed)parameters
- handle The RoboMaster controller handle
- servo The index of the servo (0, 1, 2)
- speed The target speed [rad/s]
Set the control mode of one the servo motors
simRobomaster.set_servo_mode(int handle, int servo, string mode)parameters
- handle The RoboMaster controller handle
- servo The index of the servo (0, 1, 2)
- mode The control mode, one of
"angle"and"speed"
Set the state of one of the servo motors
simRobomaster.enable_servo(int handle, int servo, bool value)parameters
- handle The RoboMaster controller handle
- servo The index of the servo (0, 1, 2)
- value Set to true to enable motor control or to false to disable it
Set how the robot controller couples chassis and gimbal
simRobomaster.set_mode(int handle, string mode)parameters
- handle The RoboMaster controller handle
- mode On of
"free"(uncoupled),"gimbal_lead"(the chassis follows the gimbal),"chassis_lead"(the gimbal follows the chassis)
Set the log level of all Robomaster controllers. Log are displayed on the console.
simRobomaster.set_log_level(string log_level)parameters
- log_level The log level, one of
"debug","info","warning","error"
Get the handles of all active RoboMaster controllers
table[int] handles = simRobomaster.get_handles()return
- handles The list of handles
Block until the action is completed. To be called from a co-routine.
simRobomaster.wait_for_completed(int robot_handle, int action_handle)parameters
- robot_handle The RoboMaster controller handle
- action_handle The action handle
Block until the gripper reaches the target state. To be called from a co-routine.
simRobomaster.wait_for_gripper(int robot_handle, string target_state)parameters
- robot_handle The RoboMaster controller handle
- target_state The action handle
Make the gripper open the gripper. To be called from a co-routine.
simRobomaster.open_gripper(int robot_handle, bool wait=true)parameters
- robot_handle The RoboMaster controller handle
- wait Whenever the call should block until the robot finishes opening the gripper
Make the gripper close the gripper. To be called from a co-routine.
simRobomaster.close_gripper(int robot_handle, bool wait=true)parameters
- robot_handle The RoboMaster controller handle
- wait Whenever the call should block until the robot finishes closing the gripper
Connect a distance sensor to the robot and enable it.
simRobomaster.enable_distance_sensor(int handle, int port, int sensor_handle)parameters
- handle The RoboMaster controller handle
- port The port at which the sensor is connected (from 0 to 3)
- sensor_handle The handle of the distance sensor
Disable a distance sensor.
simRobomaster.disable_distance_sensor(int handle, int port)parameters
- handle The RoboMaster controller handle
- port The port at which the sensor is connected (from 0 to 3)
Disable a distance sensor.
float simRobomaster.get_distance_reading(int handle, int port)parameters
- handle The RoboMaster controller handle
- port The port at which the sensor is connected (from 0 to 3)
return
- distance The distance reading in meters: negative if no object is in range, 0 if the sensor is not enabled, positive if an object was detected.
Enable/disable vision. It replicates the SDK API.
simRobomaster.enable_vision(int handle, int mask)parameters
- handle The RoboMaster controller handle
- mask A bit mask: set to 0 to disable vision, to 2 (1<<1) to detect people, or to 128 (1 << 7) to detect robots.
Set the vision tolerance, i.e., how much of the object has to be visible to be detected.
simRobomaster.configure_vision(int handle, float min_width, float min_height, float tolerance)parameters
- handle The RoboMaster controller handle
- min_width Minimal visible horizontal portion of the object to be detectable.
- min_height Minimal visible vertical portion of the object to be detectable.
- tolerance Tolerance for the object to be detectable (between 0 and 1)
Set the vision class associated to a model
simRobomaster.set_vision_class(int handle, string name, int type)parameters
- handle The RoboMaster controller handle
- name The name of the model (without the leading "/")
- type The vision type associated to the model (enum of type VISION)
Disable a distance sensor.
[CS_BoundingBox] simRobomaster.get_detected_robots(int handle)parameters
- handle The RoboMaster controller handle
return
- bounding_boxes A list with bounding boxes and handles of the currently detected robots.
Disable a distance sensor.
[CS_BoundingBox] simRobomaster.get_detected_people(int handle)parameters
- handle The RoboMaster controller handle
return
- bounding_boxes A list with bounding boxes and handles of the currently detected people.