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)
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_movel([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)


# 断开所有连接，销毁线程
RoboticArm.rm_destory()