Python:
Global Waypoint ManagementGlobalWaypointManage It is used to add, query, or update global waypoints. The following is a detailed description of the member functions of the global waypoint management GlobalWaypointManage, including the method prototype, parameter description, return value, and usage demo.
Add global waypointsrm_add_global_waypoint()
- Method prototype:
python
rm_add_global_waypoint(self, waypoint: rm_waypoint_t) -> int:Jump to rm_waypoint_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
waypoint | rm_waypoint_t | Add global waypoint parameters (the time for adding the waypoint is not required). |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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)
point = rm_waypoint_t("point1", [0, 20, 70, 0, 90, 0],
[0.3, 0, 0.3, 3.142, 0, 0], 'World', 'Arm_Tip')
print(arm.rm_add_global_waypoint(point))
arm.rm_delete_robot_arm()Update global waypointsrm_update_global_waypoint()
- Method prototype:
python
rm_update_global_waypoint(self, waypoint: rm_waypoint_t) -> int:Jump to rm_waypoint_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
waypoint | rm_waypoint_t | Update global waypoint parameters (the time for updating the waypoint is not required). |
- Return value: State codes executed by functions
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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)
point = rm_waypoint_t("point1", [0, 40, 50, 0, 90, 0],[0.3, 0, 0.3, 3.142, 0, 0], 'World', 'Arm_Tip')
print(arm.rm_update_global_waypoint(point))
arm.rm_delete_robot_arm()Delete global waypointsrm_delete_global_waypoint()
- Method prototype:
python
rm_delete_global_waypoint(self, point_name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
point_name | str | Name of the global waypoint. |
- Return value: State codes executed by functions:
| Parameter | Type | Description |
|---|---|---|
| 0 | int | Success. |
| 1 | int | The controller returns false, indicating that the parameters are sent incorrectly 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_global_waypoint("point"))
arm.rm_delete_robot_arm()Query given global waypointsrm_get_given_global_waypoint()
- Method prototype:
python
rm_get_given_global_waypoint(self, point_name: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
point_name | str | Name of the given global waypoint. |
- 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 sent incorrectly 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. |
- Dictionary of global waypoint parameters
| Parameter | Type | Description |
|---|---|---|
rm_waypoint_t | dict[str,any] | Return the dictionary of given global waypoint parameters, key: field name of rm_waypoint_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_global_waypoint("point"))
arm.rm_delete_robot_arm()Query multiple global waypointsrm_get_global_waypoints_list()
- Method prototype:
python
rm_get_global_waypoints_list(self, page_num: int, page_size: int, vague_search: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
point_name | str | Name of the given global waypoint. |
- 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 sent incorrectly 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. |
- Dictionary of the global waypoint list
| Parameter | Type | Description |
|---|---|---|
rm_waypoint_list_t | dict[str,any] | Return the dictionary of the conforming global waypoint list, key: field name of rm_waypoint_list_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)
# Search “test” waypoints vaguely
print(arm.rm_get_global_waypoints_list(1, 10, "test"))
arm.rm_delete_robot_arm()