coppeliarobotics / simextremoteapi Goto Github PK

I noticed that loading a model from the V-REP interface or from the remote API doesn't lead to the same result if the model is imported more than one.

Let's say we import the KUKA LBR4+.ttm twice. If we do this from the V-REP menus, we get two robots and the second one has a trailing #0 for each object (e.g. LBR4p_joint1 -> LBR4p_joint1#0). But if we do this from the remote API, instead of appending a suffix the numbering changes (e.g. LBR4p_joint1 -> LBR4p_joint8).

I'm not sure if it's a regression (I'm pretty sure it was ok with 3.4.0) or something desired but I highly prefer the suffix way of doing it, it makes the dynamic loading and interfacing of models much easier.

As a side note, I'm not using the KUKA LBR4+.ttm model in my tests but a modified version of it but I don't think it could have an influence.

I'm trying to utilise V-REP to provide simulation capabilities for (some of) the currently available MRPT algorithms. MRPT is a project licensed under BSD. V-REP is dual-licensed (commercial and GPL) as described here.

It seems that the remoteApiBindings though are licensed differently than the core V-REP project. Does this mean that the remote API can be used directly in BSD-code. For example can a snippet like the following be published under the BSD license?

<BSD Licensed file>


#define NON_MATLAB_PARSING
#define MAX_EXT_API_CONNECTIONS 255
#define DO_NOT_USE_SHARED_MEMORY

#include <extApi.h>
#include <extApi.c>
#include <extApiPlatform.h>
#include <extApiPlatform.c>

int main(int argc, char *argv[])
{
        ...
	simxStart((simxChar*)"127.0.0.1",19999,true,true,2000,5);
	return 0;
}