Simulation mode

xArm/850 Troubleshooting
1

Hi,

How can I setup simulation mode in python.
Do I need the hardware arm to do simulation with my program?
I must have a handle to use the API commands.
I cannot use the connect API because I first needed a Handle to use this API
and when I try to get the Handle with the command
arm = XArmAPI(‘localhost’) or XArmAPI(‘127.0.0.1’) it gives a socket error.
So my question, how I can put it into simulation mode through python code.

Thanks,
Danny

2

Hi Danny,
You need connect to the real robot controller and real robotic arm to use the simulation mode.
Thanks

3

Blockquote
arm = XArmAPI(‘192.168.3.209’)
arm.connect(self,‘localhost’,payload,collision)
arm.clean_warn()
arm.clean_error()
arm.motion_enable(True)
arm.set_mode(4)
set_state(0)

Blockquote
When I send move or joint command the cobot still moves?
What aim I doing wrong?

Thanks,
Danny

4

Hi Danny,
For the newly formware(1.6.0 or later), the simulation mode API is " arm.set_simulation_robot(on_off=True)“
Thanks