python控制程序 .py 文件控制vrep常常包括以下步骤：
1.引入模块
import vrep
2.建立连接，先关闭上一次连接
print('Program started')
# Close potential connections
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)
print("Connection success")
if clientID!=-1:
print ('Connected to remote API server')
3.开始仿真
# Start simulation
vrep.simxStartSimulation(clientID, vrep.simx_opmode_blocking)
print("Simulation start")
根据需要，设置py文件和vrep环境时间一致：
# enable the synchronous mode on the client:
vrep.simxSynchronous(clientID,True)
相应的，在主程序部分，往往是循环里头：
# make step forward
vrep.simxSynchronousTrigger(clientID);
4.主程序部分
5.结束仿真
##### Stop simulation
vrep.simxStopSimulation(clientID, vrep.simx_opmode_blocking)
errorCode = vrep.simxSetIntegerSignal(clientID, 'ICECUBE_0', 1, vrep.simx_opmode_blocking)
time.sleep(0.5)
6.断开连接
##### Close the connection to V-REP
vrep.simxFinish(clientID)
print('Program end')
主程序部分：
a.vision sensor传感器有关
##### obtain the vision sensor handle
errorCode,visionSensorHandle = vrep.simxGetObjectHandle(clientID,'Cam',vrep.simx_opmode_oneshot_wait)
##### Get the image of vision sensor
errprCode,resolution,image = vrep.simxGetVisionSensorImage(clientID,visionSensorHandle,0,vrep.simx_opmode_streaming)
time.sleep(0.1)
errprCode,resolution,image = vrep.simxGetVisionSensorImage(clientID,visionSensorHandle,0,vrep.simx_opmode_buffer)
##### Process the image to the format (64,64,3)
sensorImage = []
sensorImage = np.array(image,dtype = np.uint8)
sensorImage.resize([resolution[0],resolution[1],3])
##### Use matplotlib.imshow to show the image
mpl.imshow(sensorImage,origin='lower')
b.force sensor传感器有关：
##### simx_opmode_streaming initialization, no values are read at this time
errorCode,state,forceVector,torqueVector=vrep.simxReadForceSensor(clientID,forceSensorHandle,vrep.simx_opmode_streaming)
##### simx_opmode_buffer to obtain forceVector and torqueVector
errorCode,state,forceVector,torqueVector=vrep.simxReadForceSensor(clientID,forceSensorHandle,vrep.simx_opmode_buffer)
# Output the force of XYZ
print(forceVector)
# Output the torque of XYZ
print(torqueVector)
c..py文件与vrep之间传送信号：
###### obtain signal from vrep
errorCode, signal = vrep.simxGetIntegerSignal(clientID, 'ICECUBE_0', vrep.simx_opmode_blocking)
errorCode = vrep.simxSetIntegerParameter(clientID, vrep.sim_intparam_current_page, 0, vrep.simx_opmode_blocking)
###### send signal to vrep
errorCode = vrep.simxSetIntegerParameter(clientID, vrep.sim_intparam_current_page, 1, vrep.simx_opmode_blocking)
vrep.simxSetFloatSignal(clientID, 'ICECUBE_' + str(i), targetPosition[i - 1], vrep.simx_opmode_oneshot)
##### Sent the signal of movement
vrep.simxPauseCommunication(clientID, 1)
d. .py调用vrep的脚本函数：
res,retInts,retFloats,retStrings,retBuffer=vrep.simxCallScriptFunction(clientID,"remoteApiCommandServer",vrep.sim_scripttype_childscript,'executeCode_function',[],[],[code],emptyBuff,vrep.simx_opmode_blocking)
if res==vrep.simx_return_ok:
print ('Code execution returned: ',retStrings[0])
else:
print ('Remote function call failed')
e. 跟object物体有关:
# Retrieve some handles:
res,robotHandle=vrep.simxGetObjectHandle(clientID,'IRB4600#',vrep.simx_opmode_oneshot_wait)