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yutang
2025-06-07 11:22:05 +08:00
parent 83d6419d70
commit e079566597
3 changed files with 43 additions and 22 deletions
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12
realman_src/single_arm_control_test.py
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@@ -2,16 +2,20 @@ from Robotic_Arm.rm_robot_interface import *
armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
lefthandle = armleft.rm_create_robot_arm("169.254.128.18", 8080)
lefthandle = armleft.rm_create_robot_arm("192.168.3.18", 8080)
print("机械臂ID：", lefthandle.id)
print("Left: ", armleft.rm_get_current_arm_state())
print("Left: ", armleft.rm_get_arm_all_state())
armleft.rm_movej([10, -125, 100, 100, 0, 0, -10], 50, 0, 0, 1)
# armleft.rm_movej_p([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)
# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
# armleft.rm_movej_p([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)s
# armleft.rm_movel([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)
armleft.rm_set_gripper_position(1000, True, 2)
import time
time.sleep(3)
armleft.rm_set_gripper_position(1, True, 2)
# 断开所有连接，销毁线程
RoboticArm.rm_destory()