Resolves stepjam#9. Resolves stepjam#13. Multiple arm bug fix.

pyrep/robots/arms/arm.py

@@ -21,7 +21,7 @@ def __init__(self, count: int, name: str, num_joints: int,
                  base_name: str = None,
                  max_velocity=1.0, max_acceleration=4.0, max_jerk=1000):
         """Count is used for when we have multiple copies of arms"""
-        joint_names = [name + '_joint' + str(i+1) for i in range(num_joints)]
+        joint_names = ['%s_joint%d' % (name, i+1) for i in range(num_joints)]
         super().__init__(count, name, joint_names, base_name)
 
         # Used for motion planning
@@ -30,7 +30,7 @@ def __init__(self, count: int, name: str, num_joints: int,
         self.max_jerk = max_jerk
 
         # Motion planning handles
-        suffix = '' if count == 0 else '#%d' % count
+        suffix = '' if count == 0 else '#%d' % (count - 1)
         self._ik_target = Dummy('%s_target%s' % (name, suffix))
         self._ik_tip = Dummy('%s_tip%s' % (name, suffix))
         self._ik_group = vrep.simGetIkGroupHandle('%s_ik%s' % (name, suffix))

pyrep/robots/end_effectors/gripper.py

@@ -14,10 +14,11 @@ class Gripper(RobotComponent):
 
     def __init__(self, count: int, name: str, joint_names: List[str]):
         super().__init__(count, name, joint_names)
-        prox_name = '%s_attachProxSensor' % name
-        attach_name = '%s_attachPoint' % name
-        prox_name = prox_name if count == 0 else prox_name + '%d' % (count - 1)
-        attach_name = attach_name if count == 0 else attach_name + '%d' % (count - 1)
+        suffix = '' if count == 0 else '#%d' % (count - 1)
+        prox_name = '%s_attachProxSensor%s' % (name, suffix)
+        attach_name = '%s_attachPoint%s' % (name, suffix)
+        # prox_name = prox_name if count == 0 else prox_name + '%d' % (count - 1)
+        # attach_name = attach_name if count == 0 else attach_name + '%d' % (count - 1)
         self._proximity_sensor = ProximitySensor(prox_name)
         self._attach_point = ForceSensor(attach_name)
         self._old_parents = []

pyrep/robots/robot_component.py

@@ -12,14 +12,34 @@ class RobotComponent(Object):
 
     def __init__(self, count: int, name: str, joint_names: List[str],
                  base_name: str = None):
-        super().__init__(name if base_name is None else base_name)
+        suffix = '' if count == 0 else '#%d' % (count - 1)
+        super().__init__(
+            name + suffix if base_name is None else base_name + suffix)
         self._num_joints = len(joint_names)
 
         # Joint handles
-        suffix = '' if count == 0 else '%d' % (count - 1)
         self.joints = [Joint(jname + suffix)
                        for jname in joint_names]
 
+    def copy(self) -> 'RobotComponent':
+        """Copy and pastes the arm in the scene.
+
+        The arm is copied together with all its associated calculation
+        objects and associated scripts.
+
+        :return: The new pasted arm.
+        """
+        # Copy whole model
+        handle = vrep.simCopyPasteObjects([self._handle], 1)[0]
+        name = vrep.simGetObjectName(handle)
+        # Find the number of this arm
+        num = name[name.rfind('#') + 1:]
+        if len(num) > 0:
+            num = int(num) + 1
+        else:
+            num = 0
+        return self.__class__(num)
+
     def get_type(self) -> ObjectType:
         """Gets the type of the object.
 

tests/test_arms_and_configuration_paths.py

@@ -103,6 +103,15 @@ def test_get_linear_path_visualize(self):
         # Check that it does not error
         path.visualize()
 
+    def test_get_duplicate_arm(self):
+        arm = UR3(1)
+        self.assertIsInstance(arm, UR3)
+
+    def test_copy_arm(self):
+        arm = UR10()
+        new_arm = arm.copy()
+        self.assertNotEqual(arm, new_arm)
+
 
 if __name__ == '__main__':
     unittest.main()

tests/test_grippers.py

@@ -57,6 +57,15 @@ def test_close_open_gripper(self):
                 self.assertAlmostEqual(
                     gripper.get_open_amount()[0], 0.8, delta=0.05)
 
+    def test_get_duplicate_gripper(self):
+        g = BaxterGripper(1)
+        self.assertIsInstance(g, BaxterGripper)
+
+    def test_copy_gripper(self):
+        g = JacoGripper()
+        new_g = g.copy()
+        self.assertNotEqual(g, new_g)
+
 
 if __name__ == '__main__':
     unittest.main()