forked from tangger/lerobot
29 lines
1.1 KiB
Python
29 lines
1.1 KiB
Python
from Robotic_Arm.rm_robot_interface import *
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armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
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lefthandle = armleft.rm_create_robot_arm("192.168.3.18", 8080)
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print("机械臂ID：", lefthandle.id)
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print("Left: ", armleft.rm_get_current_arm_state())
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print("Left: ", armleft.rm_get_arm_all_state())
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# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
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# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
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# armleft.rm_movej_p([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)s
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# armleft.rm_movel([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)
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print(armleft.rm_get_gripper_state())
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# armleft.rm_set_gripper_pick(100, 500, True, 2)
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# armleft.rm_set_gripper_release(300, True, 2)
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# armleft.rm_set_gripper_pick(100, 500, True, 2)
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# armleft.rm_set_gripper_position(500, True, 20)
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# armleft.rm_set_gripper_pick(100, 500, True, 2)
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# armleft.rm_set_gripper_position(500, True, 20)
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# armleft.rm_set_gripper_position(999, True, 2)
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import time
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time.sleep(3)
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# armleft.rm_set_gripper_position(1, True, 2)
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# 断开所有连接，销毁线程
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RoboticArm.rm_destory() |