Add set_stepping_mode, get_object_handles, remove extra string fr…

…om signatures, and remove protected C++ methods. Fix #62, Fix #61, and Fix #60 (#63)

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Updated the copyright year and added the default connect method.

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Added the set_stepping_mode.

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Added the methdos get_object_handles{s}.

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Removed the bindings of protected C++ methods as set_joint_position, get_joint_position.

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Fixed the signature of some bindings as set and get object pose.

* [DQ_CoppeliaSimInterfaceZMQ_py.cpp] Added default arguments in the connect method

src/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ_py.cpp

@@ -1,5 +1,5 @@
 /**
-(C) Copyright 2019-2024 DQ Robotics Developers
+(C) Copyright 2019-2025 DQ Robotics Developers
 
 This file is part of DQ Robotics.
 
@@ -20,6 +20,11 @@ This file is part of DQ Robotics.
 1.  Murilo M. Marinho        (murilomarinho@ieee.org)
         - Initial implementation.
 
+2.  Juan Jose Quiroz Omana (juanjose.quirozomana@manchester.ac.uk)
+        - Added bindings for the following methods
+          set_stepping_mode(), get_object_handle(), get_object_handle()
+          get_joint_{velocities, torques}(), set_joint_target_velocities(),set_joint_torques()
+
 */
 
 #include "../../dqrobotics_module.h"
@@ -38,6 +43,9 @@ void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
             > dqcsinterfacezmq_py(m,"DQ_CoppeliaSimInterfaceZMQ");
     dqcsinterfacezmq_py.def(py::init<>());
 
+    dqcsinterfacezmq_py.def("connect",(bool (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const int&, const int&))&DQ_CoppeliaSimInterfaceZMQ::connect,
+                            py::arg("host") = "localhost", py::arg("port") = 23000, py::arg("TIMEOUT_IN_MILISECONDS") = 2000,
+                            "establishes a connection between the client (your code) and the host (the computer running the CoppeliaSim scene.");
     dqcsinterfacezmq_py.def("connect",(bool (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const int&, const int&, const int&))&DQ_CoppeliaSimInterfaceZMQ::connect,"Connects to CoppeliaSim with a given ip.");
 
     dqcsinterfacezmq_py.def("disconnect",    &DQ_CoppeliaSimInterfaceZMQ::disconnect,"Disconnects from CoppeliaSim.");
@@ -46,6 +54,7 @@ void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
     dqcsinterfacezmq_py.def("start_simulation",&DQ_CoppeliaSimInterfaceZMQ::start_simulation,"Start simulation");
     dqcsinterfacezmq_py.def("stop_simulation", &DQ_CoppeliaSimInterfaceZMQ::stop_simulation,"Stops simulation");
 
+    dqcsinterfacezmq_py.def("set_stepping_mode", (void (DQ_CoppeliaSimInterfaceZMQ::*) (const bool&))&DQ_CoppeliaSimInterfaceZMQ::set_stepping_mode, "enables or disables the stepping mode (formerly known as synchronous mode).");
     dqcsinterfacezmq_py.def("set_synchronous", (void (DQ_CoppeliaSimInterfaceZMQ::*) (const bool&))&DQ_CoppeliaSimInterfaceZMQ::set_synchronous, "Sets synchronous mode");
 
     dqcsinterfacezmq_py.def("trigger_next_simulation_step", &DQ_CoppeliaSimInterfaceZMQ::trigger_next_simulation_step, "Sends a synchronization trigger signal to the server.");
@@ -57,7 +66,7 @@ void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
                            "Gets object translation.");
 
     dqcsinterfacezmq_py.def("set_object_translation",
-                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_translation,
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&))&DQ_CoppeliaSimInterfaceZMQ::set_object_translation,
                            "Sets object translation.");
 
     dqcsinterfacezmq_py.def("get_object_rotation",
@@ -73,20 +82,16 @@ void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
                            "Gets object pose.");
 
     dqcsinterfacezmq_py.def("set_object_pose",
-                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&, const std::string&))&DQ_CoppeliaSimInterfaceZMQ::set_object_pose,
+                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const DQ&))&DQ_CoppeliaSimInterfaceZMQ::set_object_pose,
                            "Sets object pose.");
 
-    dqcsinterfacezmq_py.def("set_joint_position",
-                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&::DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
-                           "Set joint position");
-
-    dqcsinterfacezmq_py.def("set_joint_target_position",
-                           (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&, const double&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_positions,
-                           "Set joint target position");
+    dqcsinterfacezmq_py.def("get_object_handle",
+                            (int (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&))&::DQ_CoppeliaSimInterfaceZMQ::get_object_handle,
+                            "gets the object handle from CoppeliaSim.");
 
-    dqcsinterfacezmq_py.def("get_joint_position",
-                           (double (DQ_CoppeliaSimInterfaceZMQ::*) (const std::string&))&::DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
-                           "Get joint position");
+    dqcsinterfacezmq_py.def("get_object_handles",
+                            (VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_object_handles,
+                            "returns a vector containing the object handles.");
 
     dqcsinterfacezmq_py.def("set_joint_positions",
                            (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_positions,
@@ -100,4 +105,23 @@ void init_DQ_CoppeliaSimInterfaceZMQ_py(py::module& m)
                            (VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_joint_positions,
                            "Get joint positions");
 
+    dqcsinterfacezmq_py.def("get_joint_velocities",
+                            (VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_joint_velocities,
+                            "gets the joint velocities in the CoppeliaSim scene.");
+
+    dqcsinterfacezmq_py.def("set_joint_target_velocities",
+                            (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_target_velocities,
+                            "sets the joint target velocities in the CoppeliaSim scene. "
+                            "This method requires a dynamics enabled scene, and joints in dynamic mode with velocity control mode.");
+
+    dqcsinterfacezmq_py.def("get_joint_torques",
+                            (VectorXd (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&))&DQ_CoppeliaSimInterfaceZMQ::get_joint_torques,
+                            "gets the joint torques in the CoppeliaSim scene.");
+
+    dqcsinterfacezmq_py.def("set_joint_torques",
+                            (void (DQ_CoppeliaSimInterfaceZMQ::*) (const std::vector<std::string>&, const VectorXd&))&DQ_CoppeliaSimInterfaceZMQ::set_joint_torques,
+                            "sets the joint torques in the CoppeliaSim scene. "
+                            "This method requires a dynamics enabled scene, and joints in dynamic mode with force control mode.");
+
+
 }