README.md

vrep-python-test

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

1. Download and extract recent V-REP PRO/DEU (Hereafter, vrep folder)

2. Git clone this repository (Hereafter, source folder)

3. 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

4. Copy b0.py and b0RemoteApi.py in vrep/programming/b0RemoteApiBindings/python/python

   And Paste them into source/Extern

5. 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)

6. Run demo script

TODO

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