text: #import libraries
  import sim
  import sys
  import time
  
  # just in case, close all opened connections
  sim.simxFinish(-1)
  #establish connection with coppeliasim remote server
  clientID=sim.simxStart('127.0.0.1',19999,True,True,5000,5)
  
  if clientID!=-1:  #check if client connection successful
      print('Connected to remote API server')
      
  else:
      print('Connection not successful')
      sys.exit('Could not connect')
  
  
  #retrieve motor  handles
  errorCode,left_motor_handle=sim.simxGetObjectHandle(clientID,'Pioneer_p3dx_leftMotor',sim.simx_opmode_oneshot_wait)
  errorCode,right_motor_handle=sim.simxGetObjectHandle(clientID,'Pioneer_p3dx_rightMotor',sim.simx_opmode_oneshot_wait)
  
  # enter your code here. a sample of how to set the target joint velocity is given below, you can change that.
  errorCode=sim.simxSetJointTargetVelocity(clientID,left_motor_handle,10, sim.simx_opmode_oneshot_wait)
  errorCode=sim.simxSetJointTargetVelocity(clientID,right_motor_handle,10, sim.simx_opmode_oneshot_wait)
  
  
  import time
  time.sleep(5)
  while(1):
   print('Enter angular velocity for left wheel:')
   l=int(input())
   print('Enter angular velocity for right wheel:')
   r=int(input())
   errorCode=sim.simxSetJointTargetVelocity(clientID,left_motor_handle,l, sim.simx_opmode_oneshot_wait)
   errorCode=sim.simxSetJointTargetVelocity(clientID,right_motor_handle,r, sim.simx_opmode_oneshot_wait)
   time.sleep(5)
  
  
          