V-rep------python远程控制Baxter

1. 打开仿真，添加baxter模型（Baxter.ttm）到仿真中
   

2. 去除脚本文件中的Threaded child script(* * ),选中用delete删除，只保留Ｍain script( * * )和Non-threaded child script( * *)
   

3. 在Baxter脚本文件中的sysCall_init()函数下添加

repeat until (simRemoteApi.start(19999,1300,false,true)~=-1)

4. 选中left/right arm的所有joints，其dynamics设置修改为： uncheck “control loop enabled”，然后“apply to selection”，启动仿真就可以看到Baxter左右臂自然下垂
   

5. 现在来配合python端，简单来说，需要配置配置几个文件，安装一些外接的库，在Python的项目里面添加接口相关文件，这些文件可以在Vrep的安装文件夹中找到（我的是linux系统在：　/home/peijiean/V-REP/programming/remoteApiBindings/lib/lib/Linux/64Bit），包括：

vrep.py
vrepConst.py
remoteApi.dll(win) remoteApi.dylib(mac) remoteApi.so(linux)(三选一)

6. 在项目里新建python文件，v-rep中启动仿真，pycharm中运行程序，看到Baxter关节运动指定角度

＃python程序示例
import numpy as np
import vrep
import math


# V-REP 数据传输模式
WAIT = vrep.simx_opmode_oneshot_wait
ONESHOT = vrep.simx_opmode_oneshot
STREAMING = vrep.simx_opmode_streaming
BUFFER = vrep.simx_opmode_buffer
BLOCKING = vrep.simx_opmode_blocking

RAD2EDG = 180 / math.pi  # 弧度转度数

# 连接到vrep
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
if clientID == -1:
    raise Exception('连接失败')
print("连接成功")
message = '连接成功'
vrep.simxAddStatusbarMessage(clientID, message, ONESHOT)

# 定义每个手臂7个关节
num_joints = 7
i = 0
rightArm = np.zeros(num_joints)
rightError = np.zeros(num_joints)
leftArm = np.zeros(num_joints)
leftError = np.zeros(num_joints)

# 初始化关节，得到关节句柄
for i in range(7):
    rightJointName = 'Baxter_rightArm_joint' + str(i + 1)
    leftJointName = 'Baxter_leftArm_joint' + str(i + 1)

    # 从vrep得到关节名
    rightError[i], rightArm[i] = vrep.simxGetObjectHandle(clientID, rightJointName, BLOCKING)
    leftError[i], leftArm[i] = vrep.simxGetObjectHandle(clientID, leftJointName, BLOCKING)
rightArm = rightArm.astype(int)
rightError = rightError.astype(int)
leftArm = leftArm.astype(int)
leftError = leftError.astype(int)
# print(rightArm)
# print(leftArm)
# 设置关节转动弧度
for i in range(num_joints):
    vrep.simxSetJointTargetPosition(clientID, rightArm[i], 130 / RAD2EDG, ONESHOT)
    vrep.simxSetJointTargetPosition(clientID, leftArm[i], 60 / RAD2EDG, ONESHOT)

# # 关闭仿真
# vrep.simxStopSimulation(clientID,STREAMING)