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FANUC_M710iC_50 機械手臂Remote Api

import sim as vrep
import sys
import keyboard
import math
import time
# child threaded script: 
#simExtRemoteApiStart(19999)
  
vrep.simxFinish(-1)
clientID = vrep.simxStart('127.0.0.1', 19999, True, True, 5000, 5)
errorCode,left_motor_handle=vrep.simxGetObjectHandle(clientID,'Revolute_joint',vrep.simx_opmode_oneshot_wait)
errorCode,right_motor_handle=vrep.simxGetObjectHandle(clientID,'Revolute_joint1',vrep.simx_opmode_oneshot_wait)
 
 
if clientID!= -1:
    print("Connected to remote server")
    while True: 
        try:
            if keyboard.is_pressed('up'):
                  vrep.simxSetJointTargetVelocity(clientID,left_motor_handle,-0.1, vrep.simx_opmode_oneshot_wait)
                  vrep.simxSetJointTargetVelocity(clientID,right_motor_handle,-0.1, vrep.simx_opmode_oneshot_wait)
                  print('up')
            if keyboard.is_pressed('down'):     
                  vrep.simxSetJointTargetVelocity(clientID,left_motor_handle,0.1, vrep.simx_opmode_oneshot_wait)
                  vrep.simxSetJointTargetVelocity(clientID,right_motor_handle,0.1, vrep.simx_opmode_oneshot_wait)
                  print('down')
            if keyboard.is_pressed('space'):
                  vrep.simxSetJointTargetVelocity(clientID,left_motor_handle,0 , vrep.simx_opmode_oneshot_wait)
                  print('space')
            if keyboard.is_pressed('z'):
                 vrep.simxSetJointTargetVelocity(clientID,left_motor_handle,0 , vrep.simx_opmode_oneshot_wait)
                 print('break ')
                 break
            else:
                pass
        except:
            break
else: 
    print('Connection not successful')
    sys.exit('Could not connect')
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