.. _pythonexample:

Simple Sine Movement in Python
==============================

To show the remote access to Oncilla API Level 2 we provide an example written
in Python that performs an simple sine movement, by sending commands to the
Simulation over the :ref:`Robotics Service Bus <rsb>` (RSB), which is available
in Python, C++, Java and Common Lisp.

In order to start the example, usew Webots to open the world file
*Example3.wbt* which is installed by the
:ref:`Oncilla Project Wizard <oncillasim:wizard>`. This world file will start a
controller for Oncilla, that listens to commands send over RSB.

You find the example Python script at
``/usr/share/cca-oncilla/examples/OncillaRemoteSimpleSineMovement.py``.
Start the python script::

    python /usr/share/cca-oncilla/examples/OncillaRemoteSimpleSineMovement.py

The script does:

#. Importing necessary :ref:`RSB <rsb>` and :ref:`RST <rst>` modules for remote
   communication with the :ref:`Oncilla CCA Interface <ccainterface>`.
#. Creating an informer to send the commands to a specified scope
   ``/oncilla/cmd/pos/all`` (lines 27-28).
#. Creating rst :py:class:`rst.kinematics.JointAngles` containing the eight
   joint commands (lines 52-60).
#. Sending the command with the informer created above (line 62).
#. Make sure you deactivate the informer at the end of your program.

.. literalinclude:: ../../examples/OncillaRemoteSimpleSineMovement.py
   :language: python
   :emphasize-lines: 27-28,52-60,62
   :linenos: