V-REP仿真之V-REP与Python通信

V-REP仿真之V-REP与Python通信

Python与V-REP联合仿真 | Joint simulation of Python and V-REP
https://blog.csdn.net/qq_29945727/article/details/98469590?utm_medium=distribute.pc_relevant.none-task-blog-title-2&spm=1001.2101.3001.4242
1.需要注意的是将vrep中需要的几个文件复制到相同的文件夹下。

2.需要将命令输入到ur3的命令中

3.需要先启动vrep仿真，之后再运行程序

4.程序

# -*- coding:UTF-8 -*-
import sim
import time
import sys
import math
import numpy as np


try:
    
    sim.simxFinish(-1) #关掉之前连接
    clientID=sim.simxStart('127.0.0.1',19997,True,True,5000,5) # Connect to CoppeliaSim 
    if clientID!=-1:
        print ('connect successfully')
    else:
        sys.exit("Error: no se puede conectar") #Terminar este script

except:
    print('Check if CoppeliaSim is open')


sim.simxStartSimulation(clientID, sim.simx_opmode_blocking)     #启动仿真
print("Simulation start")




time.sleep(5)    #仿真开启延时5s
sim.simxStopSimulation(clientID, sim.simx_opmode_blocking)    #关闭仿真

sim.simxFinish(clientID)   #关闭连接