vrep-python-test

Purpose : Joint space Torque control / Operational space Torque control (only position)

Download and extract recent V-REP PRO/DEU (Hereafter, vrep folder)
Git clone this repository (Hereafter, source folder)
In vrep/programming/bluezero

mkdir build && cd build

cmake .. -DCMAKE_BUILD_TYPE=RELEASE

make

After compiling ti, copy libb0.s0 in build folder and paste it into source/Extern
Copy b0.py and b0RemoteApi.py in vrep/programming/b0RemoteApiBindings/python/python

And Paste them into source/Extern
Open ur5_torque.ttt file with Vrep, for example

sudo $HOME/vrep/vrep.sh $Home/source/ur5_torque.ttt

and Turn on the Bluezero server

in top-menu bar (Add-ons -> b0remoteApiSever click)

TODO

Bug#1: to exit the python script, push Ctrl+c

Name		Name	Last commit message	Last commit date
Latest commit History 5 Commits
Bridge		Bridge
Controller		Controller
Extern		Extern
Model/ur_description		Model/ur_description
README.md		README.md
Robot.ttt		Robot.ttt
test.py		test.py
ur5_torque.ttt		ur5_torque.ttt