为了实现 CoppeliaSim（以前称为 V-REP）机械臂联调，首先，你需要确保你已经安装了 CoppeliaSim 和它的...

import time import numpy as np import sim # 导入 CoppeliaSim 的远程API模块 # 连接到 CoppeliaSim def connect_to_coppeliasim(): print("Connecting to CoppeliaSim...") sim.simxFinish(-1) # 关闭所有旧的连接 clientID = sim.simxStart('127.0.0.1', 19997, True, True, 5000, 5) # 连接到 CoppeliaSim if clientID != -1: print("Connected to CoppeliaSim successfully!") else: print("Failed to connect to CoppeliaSim.") return clientID # 获取机械臂的句柄 def get_arm_handles(clientID): # 获取机械臂关节句柄 joint_handles = [] for i in range(1, 7): # 假设机械臂有6个关节 error_code, joint_handle = sim.simxGetObjectHandle(clientID, f'Joint{i}', sim.simx_opmode_blocking) if error_code != sim.simx_error_noerror: print(f"Failed to get handle for Joint{i}") else: joint_handles.append(joint_handle) return joint_handles # 设置机械臂关节目标位置 def move_arm_to_position(clientID, joint_handles, target_angles): for i, joint_handle in enumerate(joint_handles): sim.simxSetJointTargetPosition(clientID, joint_handle, target_angles[i], sim.simx_opmode_oneshot) # 读取机械臂当前的关节角度 def get_arm_joint_positions(clientID, joint_handles): joint_positions = [] for joint_handle in joint_handles: error_code, joint_position = sim.simxGetJointPosition(clientID, joint_handle, sim.simx_opmode_blocking) if error_code == sim.simx_error_noerror: joint_positions.append(joint_position) else: print(f"Failed to get joint position for joint {joint_handle}") return joint_positions # 主函数 def main(): # 连接到 CoppeliaSim clientID = connect_to_coppeliasim() if clientID == -1: return # 获取机械臂的句柄 joint_handles = get_arm_handles(clientID) # 目标角度（以弧度表示） target_angles = [np.pi/4, np.pi/6, -np.pi/4, np.pi/3, -np.pi/6, np.pi/2] # 示例目标角度 # 移动机械臂到目标位置 print("Moving the arm to the target position...") move_arm_to_position(clientID, joint_handles, target_angles) # 等待几秒钟 time.sleep(2) # 获取机械臂的当前关节角度 print("Getting current joint positions...") current_positions = get_arm_joint_positions(clientID, joint_handles) print("Current joint positions:", current_positions) # 关闭连接 sim.simxFinish(clientID) print("Connection closed.") if __name__ == "__main__": main()