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Th socket communication allows for an external program to control the robot inside V-REP. The external program is a Python script. We will use for the socket a server/client communication. The server is written in Lua inside a threaded script in V-REP. The client is written in Python, It will :
On the server side of the socket, we use a threaded script in Lua as we want to listen to the client's commands synchronously with the V-REP simulation loop.