31 lines
1.3 KiB
Python
31 lines
1.3 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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armright = RoboticArm()
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lefthandle = armleft.rm_create_robot_arm("169.254.128.18", 8080)
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print("机械臂ID：", lefthandle.id)
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righthandle = armright.rm_create_robot_arm("169.254.128.19", 8080)
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print("机械臂ID：", righthandle.id)
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# software_info = armleft.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: ", 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_p()
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# print("Right: ", armright.rm_get_current_arm_state())
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# 断开所有连接，销毁线程
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RoboticArm.rm_destory() |