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手柄控制第一次提交

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yutang
2025-06-05 21:56:52 +08:00
parent a0ec9e1cb1
commit 83d6419d70
4 changed files with 201 additions and 246 deletions
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41
realman_src/dual_arm_connect_test.py
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@@ -1,18 +1,31 @@
from Robotic_Arm.rm_robot_interface import *
robot = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = robot.rm_create_robot_arm("169.254.128.19", 8080)
print("机械臂ID：", handle.id)
armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
armright = RoboticArm()
software_info = robot.rm_get_arm_software_info()
if software_info[0] == 0:
print("\n================== Arm Software Information ==================")
print("Arm Model: ", software_info[1]['product_version'])
print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
print("==============================================================\n")
else:
print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
lefthandle = armleft.rm_create_robot_arm("169.254.128.18", 8080)
print("机械臂ID：", lefthandle.id)
righthandle = armright.rm_create_robot_arm("169.254.128.19", 8080)
print("机械臂ID：", righthandle.id)
# software_info = armleft.rm_get_arm_software_info()
# if software_info[0] == 0:
# print("\n================== Arm Software Information ==================")
# print("Arm Model: ", software_info[1]['product_version'])
# print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
# print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
# print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
# print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
# print("==============================================================\n")
# else:
# print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
print("Left: ", armleft.rm_get_current_arm_state())
print("Left: ", armleft.rm_get_arm_all_state())
armleft.rm_movej_p()
# print("Right: ", armright.rm_get_current_arm_state())
# 断开所有连接，销毁线程
RoboticArm.rm_destory()