1002142102@qq.com
cc31254055
2.增加多臂多控制器模式 3.末端姿态由欧拉角控制切换到四元数控制 4.增加vr手柄控制器 Signed-off-by: 1002142102@qq.com <1002142102@qq.com>
24 lines
794 B
Python
24 lines
794 B
Python
from Robotic_Arm.rm_robot_interface import *
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import numpy
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def getPose(handle)->tuple[int,rm_current_arm_state_t]:
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state = rm_current_arm_state_t()
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ret = rm_get_current_arm_state(handle, byref(state))
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return ret,state
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# 运行简化版
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if __name__ == "__main__":
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rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E)
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handle = rmarm.rm_create_robot_arm("127.0.0.1", 8800)
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rmarm.rm_set_arm_run_mode(0)
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rmarm.rm_movej([15,90,10,80,110,0], 5, 0, 0, 1)
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ret,pose = getPose(handle)
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init_pose = numpy.array([
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pose.pose.position.x,
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pose.pose.position.y,
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pose.pose.position.z,
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pose.qu
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])
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init_pose[0]+=0.02
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print(init_pose)
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ret = rmarm.rm_movel(init_pose.tolist(),5,50,0,1)
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print(ret) |