25 lines
1.2 KiB
Python
25 lines
1.2 KiB
Python
from Robotic_Arm.rm_robot_interface import *
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robot = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
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handle = robot.rm_create_robot_arm("192.168.3.18", 8080)
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print("机械臂ID：", handle.id)
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software_info = robot.rm_get_arm_software_info()
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if software_info[0] == 0:
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print("\n================== Arm Software Information ==================")
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print("Arm Model: ", software_info[1]['product_version'])
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print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
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print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
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print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
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print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
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print("==============================================================\n")
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else:
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print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
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print("Left: ", robot.rm_get_current_arm_state())
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print("Left: ", robot.rm_get_arm_all_state())
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robot.rm_set_gripper_position(200, True, 2)
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print("Gripper: ", robot.rm_get_gripper_state())
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# 断开所有连接，销毁线程
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RoboticArm.rm_destory() |