BaronYSYong / vrep-python

Python Robot Simulation with V-Rep Tutorial

Python Robot Simulation with V-Rep

Environment

• Ubuntu 16.04 Xenial
• V-REP_PRO_EDU_V3_4_0_Linux
  • downlaod from http://www.coppeliarobotics.com/downloads.html
  • axel http://coppeliarobotics.com/files/V-REP_PRO_EDU_V3_4_0_Linux.tar.gz

Reference

• http://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm
• vrep-api-python 0.1.0
• http://teaching-robotics.org/trs2014/data/renaud.pdf
• https://www.youtube.com/watch?v=OfpB87pRoUk

How to Start?

V-REP

• Drag and drop UR3 into screen
• Right click on redundantRobot and select Add -> Associated child script -> Threaded
• Open the script and print below to the script

simExtRemoteApiStart(19999)

• Start the simulation

Terminal

• clone this repository

$ cd ~/github
$ git clone https://github.com/BaronYSYong/python-vrep.git
$ cd python-vrep

• copy the necesarry files to working directory from V-REP python

$ cp ~/V-REP_PRO_EDU_V3_4_0_Linux/programming/remoteApiBindings/python/python/* . 

• copy the share object from V-REP library (If your V-Rep is 64 bits)

$ cp ~/V-REP_PRO_EDU_V3_4_0_Linux/programming/remoteApiBindings/lib/lib/64Bit/* .

• Test the server and client by runnning

$ python simpleTest.py

• If the connection is OK, next try

$ ipython -i vrepManipulator.py

In IPython, try command below:

>>> UR = Manipulator()
>>> UR.MoveJoints([0,0,0,0,90,0])
>>> UR.ReadJoints()
>>> UR.GetJointInfo()
>>> LBR = Manipulator(robot_name='LBR_iiwa_14_R820')
>>> LBR.MoveJoints([45,90,90,45,90,0])