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Python remote API 逆向運動學函式

import sim as vrep
import math
import random
import time
import math

def moving (x,y):
    a=0.4
    b=0.4
    c=math.pow((math.pow(x,2)+math.pow(y,2)),0.5)
    s=(a+b+c)/2
    area=math.pow((s*(s-a)*(s-b)*(s-c)),0.5)
    h=area/(2*c)
    deg1_base=math.atan(x/y)
    if x<0 and y<0 :
        deg1_base=deg1_base+math.pi
    end
    deg1_tri=math.asin(h/a)
    deg1=deg1_base+deg1_tri
    deg2=math.pi-(0.5*math.pi-deg1_tri)-math.acos(h/b)
    deg3=deg2-deg1
    vrep.simxSetJointTargetPosition(clientID,deg1,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,-deg2,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,deg3,0,opmode)
    
print ('Start')
 
vrep.simxFinish(-1)
 
clientID = vrep.simxStart('127.0.0.1', 19997, True, True, 5000, 5)

if clientID != -1:
    print ('Connected to remote API server')

    res = vrep.simxAddStatusbarMessage(
        clientID, "40823203 ",
        vrep.simx_opmode_oneshot)
    if res not in (vrep.simx_return_ok, vrep.simx_return_novalue_flag):
        print("Could not add a message to the status bar.")


    opmode = vrep.simx_opmode_oneshot_wait
    STREAMING = vrep.simx_opmode_streaming


    vrep.simxStartSimulation(clientID, opmode)
    ret,joint01=vrep.simxGetObjectHandle(clientID,"joint1",opmode)
    ret,joint02=vrep.simxGetObjectHandle(clientID,"joint2",opmode)
    ret,joint03=vrep.simxGetObjectHandle(clientID,"joint3",opmode)
    ret,jointz=vrep.simxGetObjectHandle(clientID,"jointz",opmode)
    
    vrep.simxSetJointTargetPosition(clientID,joint01,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint02,0,opmode)
    vrep.simxSetJointTargetPosition(clientID,joint03,0,opmode)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.039,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    time.sleep(1)
    moving:(0.2,0.7)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.039,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
    moving:(-0.3,-0.55)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",0,opmode)
    time.sleep(1)
    vrep.simxSetIntegerSignal(clientID,"pad_switch",1,opmode)
    vrep.simxSetJointTargetPosition(clientID,jointz,-0.039,opmode)
    time.sleep(1)
    vrep.simxSetJointTargetPosition(clientID,jointz,0,opmode)
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