#!/usr/bin/env python

import vrep

vrep.simxFinish(-1) # just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19997,True,True,5000,5) # Connect to V-REP

if clientID!=-1:

    print ('Connected to remote API server')

    returnCode, handle = vrep.simxGetObjectHandle(clientID, 'turtlebot2i', vrep.simx_opmode_streaming)
    returnCode, obj_pose = vrep.simxGetObjectPosition(clientID, handle, -1, vrep.simx_opmode_streaming)

    while(True):

        returnCode, handle = vrep.simxGetObjectHandle(clientID,'turtlebot2i',vrep.simx_opmode_buffer)
        returnCode, obj_pose = vrep.simxGetObjectPosition(clientID, handle, -1, vrep.simx_opmode_buffer)

        if (returnCode == vrep.simx_return_ok):
           print('ok', obj_pose)
           quit()
        else:
           print('nok')