Python:
Electronic Fence and Virtual Wall ConfigurationElectronicFenceConfig Electronic fence The electronic fence function ensures that the robotic arm's trajectory planning, teaching, and other movements are carried out within the set boundaries of the electronic fence through precise parameter configuration. If the robotic arm's trajectory is at risk of exceeding the boundaries of the electronic fence, the system will immediately return the corresponding error code and automatically halt the motion, thereby effectively ensuring the safe operation of the robotic arm.
Note The electronic fence currently supports only two shapes, i.e., cubes and planes.
Virtual wall The virtual wall function supports the precise limitation of the dragging range in both current loop drag teaching and force control drag teaching modes. In these two specific teaching modes, users can utilize the virtual wall function to ensure that the robotic arm's dragging operation does not exceed the preset range.
Note The virtual wall function currently supports two shapes, i.e., cubes and spheres, and is only effective in the aforementioned two teaching modes. In other operating modes, this function will be automatically disabled. Therefore, please ensure that the virtual wall function is used in the correct operating mode to fully leverage its ability to limit the dragging range.
The G3 robotic arm functions electronic fences and virtual walls, and provides an interface for configuring the geometric model parameters of the electronic fence or virtual wall stored in the controller. Users can utilize these interfaces to add, get, update, or delete electronic fences or virtual walls. During use, they can flexibly apply the parameters saved in the controller. It is important to note that the controller currently saves up to 10 parameters. The following is a detailed description of the member functions of the electronic fence and virtual wall configuration ElectronicFenceConfig, including the method prototype, parameter description, return value, and usage demo.
Add geometric model parametersrm_add_electronic_fence_config()
- Method prototype:
python
rm_add_electronic_fence_config(self, electronic_fence: rm_fence_config_t) -> int:Jump to rm_fence_config_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
electronic_fence | (rm_fence_config_t) | Geometric model parameter structure. |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
config = rm_fence_config_t(
1, "test", cube=rm_fence_config_cube_t(-1.1, 1.1, -1.1, 1.1, -1.1, 1.1))
print(arm.rm_add_electronic_fence_config())
arm.rm_delete_robot_arm()Update geometric model parametersrm_update_electronic_fence_config()
- Method prototype:
python
rm_update_electronic_fence_config(self, electronic_fence: rm_fence_config_t) -> int:Jump to rm_fence_config_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
electronic_fence | (rm_fence_config_t) | Geometric model parameter structure |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
config = rm_fence_config_t(
1, "test", cube=rm_fence_config_cube_t(-1.0, 1.0, -1.0, 1.0, -1.0, 1.0))
print(arm.rm_update_electronic_fence_config(config))
arm.rm_delete_robot_arm()Delete given geometric modelrm_delete_electronic_fence_config()
- Method prototype:
python
rm_delete_electronic_fence_config(self, name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Geometric model name, up to 10 bytes, supporting letters, numbers, and underscores. |
- Return value: State codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_delete_electronic_fence_config("test"))
arm.rm_delete_robot_arm()Query all geometric model namesrm_get_electronic_fence_list_names()
- Method prototype:
python
rm_get_electronic_fence_list_names(self) -> dict[str, any]:- Return value:
dict[str,any]: a dictionary containing the following keys.
return_code(int): a state code executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Names of all geometric models
| Parameter | Type | Description |
|---|---|---|
| job_names | list[str] | List of strings, indicating the names of all geometric models. |
- Length of the geometric model name list
| Parameter | Type | Description |
|---|---|---|
| len | int | Length of the geometric model name list |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_electronic_fence_list_names())
arm.rm_delete_robot_arm()Query given geometric model parameterrm_get_given_electronic_fence_config()
- Method prototype:
python
rm_get_given_electronic_fence_config(self, name: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Name of given geometric model |
- Return value: tuple[int,dict[str,any]]: a tuple containing two elements. -int: state codes executed by functions.
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
| dict | [str,any] | Return the parameter dictionary of given geometric models, key: field name of rm_fence_config_t. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_given_electronic_fence_config("test"))
arm.rm_delete_robot_arm()Query all geometric model parametersrm_get_electronic_fence_list_infos()
- Method prototype:
python
rm_get_electronic_fence_list_infos(self) -> dict[str, any]:- Return value: type: a dictionary containing the following keys
return_code(int): a state code executed by functions.
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns the setting failed, indicating the parameter error or controller error. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Geometric model parameter list
| Parameter | Type | Description |
|---|---|---|
electronic_fence_list | list[str] | Geometric model parameter list |
- Length of the geometric model list
| Parameter | Type | Description |
|---|---|---|
len | int | Length of the geometric model list |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_electronic_fence_list_infos())
arm.rm_delete_robot_arm()Set electronic fence enabling state rm_set_electronic_fence_enable()
- Method prototype:
python
rm_set_electronic_fence_enable(self, electronic_fence_enable: rm_electronic_fence_enable_t) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
electronic_fence_enable | rm_electronic_fence_enable_t | Electronic fence enabling state |
- Return value:
int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
electronic_fence_enable = rm_electronic_fence_enable_t(True, 0, 0)
print(arm.rm_set_electronic_fence_enable(electronic_fence_enable))
arm.rm_delete_robot_arm()Get electronic fence enabling staterm_get_electronic_fence_enable()
- Method prototype:
python
rm_get_electronic_fence_enable(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int,dict[str,any]]: a tuple containing two elements. -int: state codes executed by functions.
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
| dict | [str,any] | Return the dictionary of the electronic fence enabling state, key: field name of rm_electronic_fence_enable_t |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_electronic_fence_enable())
arm.rm_delete_robot_arm()Set current electronic fence parameter configurationrm_set_electronic_fence_config()
- Method prototype:
python
rm_set_electronic_fence_config(self, electronic_fence: rm_fence_config_t) -> int:Jump to rm_fence_config_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
electronic_fence | rm_fence_config_t | Current electronic fence parameter structure (no electronic fence name is required) |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
config = rm_fence_config_t(1, cube=rm_fence_config_cube_t(-0.9, 0.9, -0.9, 0.9, -0.9, 0.9))
print(arm.rm_set_electronic_fence_config(config))
arm.rm_delete_robot_arm()Get current electronic fence parametersrm_get_electronic_fence_config()
- Method prototype:
python
rm_get_electronic_fence_config(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int,dict[str,any]]: a tuple containing two elements.
- int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Electronic fence parameter dictionary
| Parameter | Type | Description |
|---|---|---|
dict | [str,any] | Return the parameter dictionary of the current electronic fence, key: field name of rm_fence_config_t (no electronic fence name is returned) |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_electronic_fence_config())
arm.rm_delete_robot_arm()Set virtual wall enabling staterm_set_virtual_wall_enable()
- Method prototype:
python
rm_set_virtual_wall_enable(self, virtual_wall_enable: rm_electronic_fence_enable_t) -> int:Jump to rm_electronic_fence_enable_t for details of the structure
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
electronic_fence_enable = rm_electronic_fence_enable_t(True, 0, 1)
print(arm.rm_set_virtual_wall_enable(electronic_fence_enable))
arm.rm_delete_robot_arm()Get virtual wall enabling state rm_get_virtual_wall_enable()
- Method prototype:
python
rm_get_virtual_wall_enable(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int,dict[str,any]]: a tuple containing two elements.
- int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Virtual wall enabling state dictionary
| Parameter | Type | Description |
|---|---|---|
dict | [str,any] | Return the dictionary of the virtual wall enabling state, key: field name of rm_electronic_fence_enable_t |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_virtual_wall_enable())
arm.rm_delete_robot_arm()Set current virtual wall parametersrm_set_virtual_wall_config()
- Method prototype:
python
rm_set_virtual_wall_config(self, virtual_wall: rm_fence_config_t) -> int:Jump to rm_fence_config_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
virtual_wall | rm_fence_config_t | Current virtual wall parameters (no virtual wall name is required). |
- Return value: int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
config = rm_fence_config_t(1, cube=rm_fence_config_cube_t(-0.9, 0.9, -0.9, 0.9, -0.9, 0.9))
print(arm.rm_set_virtual_wall_config(config))
arm.rm_delete_robot_arm()Get current virtual wall parametersrm_get_virtual_wall_config()
- Method prototype:
python
rm_get_virtual_wall_config(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int,dict[str,any]]: a tuple containing two elements.
-int: state codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are incorrect or the robotic arm state is wrong. |
| -1 | int | The data transmission fails, indicating that a problem occurs during the communication. |
| -2 | int | The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout. |
| -3 | int | The return value parse fails, indicating that the received data format is incorrect or incomplete. |
| dict | [str,any] | Return the parameter dictionary of the current virtual wall, key: field name of rm_fence_config_t (no virtual wall name is returned) |
- Usage demo
python
from Robotic_Arm.rm_robot_interface import *
# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create the robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
print(arm.rm_get_virtual_wall_config())
arm.rm_delete_robot_arm()