Python:
Tool Frame ConfigurationToolCoordinateConfig It is used to automatically/manually set, delete, and switch tool frames, etc. The following is a detailed description of the member functions of the tool frame ToolCoordinateConfig, including the method prototype, parameter description, return value, and usage demo.
Automatically set the tool frame with the 6-point method — Point markingrm_set_auto_tool_frame()
- Method prototype:
python
rm_set_auto_tool_frame(self, point_num: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
point_num | int | 1-6 represent the 6 calibration points. |
- 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_change_work_frame("Base"))
# The point is with the end effector oriented vertically downward, and the tool end effector contacts the reference end effector
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, True))
# Record the reference end effector pose
result = arm.rm_get_current_arm_state()
# Transform to any orientation, with the tool end effector contacting the reference end effector, calibrating points 1, 2, and 3
result[1]["pose"][3] += 0.1
move_res = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
time.sleep(1)
print(arm.rm_set_auto_tool_frame(1)) # Point 1
print("Point 1 calibration completed")
result[1]["pose"][4] += 0.2
move_res = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
time.sleep(1)
print(arm.rm_set_auto_tool_frame(2)) # Point 2
print("Point 2 calibration completed")
result[1]["pose"][5] += 0.3
move_res = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
time.sleep(1)
print(arm.rm_set_auto_tool_frame(3)) # Point 3
print("Point 3 calibration completed")
# The tool end effector is vertically downward, in contact with the reference end effector, calibrating point 4
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, True))
time.sleep(1)
print(arm.rm_set_auto_tool_frame(4)) # Point 4
print("Point 4 calibration completed")
# Maintain the orientation of point 4, and move backward along the X-axis of the base frame from point 4 to a position where the distance from point 4 is greater than 10 cm, calibrating point 5
result = arm.rm_get_current_arm_state()
result[1]["pose"][0] += 0.1
move_res = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
time.sleep(1)
print(arm.rm_set_auto_tool_frame(5)) # Point 5
print("Point 5 calibration completed")
# Maintain the orientation of point 4, and move from point 4 along the positive Z-axis of the base frame to a position where the distance from point 4 is greater than 10 cm, calibrating point 6
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, True))
result = arm.rm_get_current_arm_state()
result[1]["pose"][2] += 0.1
move_res = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
time.sleep(1)
result = arm.rm_set_auto_tool_frame(6) # Point 6
print("Point 6 calibration completed")
# Automatically generate the frame "test" with a 2 kg payload (ensure that the number of frames does not exceed 10, and the name does not already exist. Otherwise, the creation will fail)
print(arm.rm_generate_auto_tool_frame("test", 2, 0, 0, 0))
print("The frame has been created")
print(arm.rm_change_work_frame("World"))
arm.rm_delete_robot_arm()Automatically set the tool frame with the 6-point method — submissionrm_generate_auto_tool_frame()
- Method prototype:
python
rm_generate_auto_tool_frame(self, tool_name: str, payload: float, x: float, y: float, z: float) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Tool frame name, no longer than 10 bytes. |
payload | payload | New tool's end effector payload weight, in kg |
x | float | New tool's end effector payload position, position x, in m. |
y | float | New tool's end effector payload position, position y, in m. |
z | float | New tool's end effector payload position, position z, in m. |
- 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)
# Automatically generate the frame "test" with a 2 kg payload (for the complete generation process, please refer to the usage demo of rm_set_auto_tool_frame)
print(arm.rm_generate_auto_tool_frame("test", 2, 0, 0, 0))
arm.rm_delete_robot_arm()Manually set the tool framerm_set_manual_tool_frame()
- Method prototype:
python
rm_set_manual_tool_frame(self, frame: rm_frame_t) -> int:Jump to rm_frame_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
frame | rm_frame_t | New tool frame parameter 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 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)
frame = rm_frame_t("test", [0, 0, 0, 0, 0, 0], 1, 0, 0, 0)
print(arm.rm_set_manual_tool_frame(frame))
arm.rm_delete_robot_arm()Change the current tool frame rm_change_tool_frame()
- Method prototype:
python
rm_change_tool_frame(self, tool_name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Name of target tool frame. |
- 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_change_tool_frame("test"))
arm.rm_delete_robot_arm()Delete the specified tool frame rm_delete_tool_frame()
- Method prototype:
python
rm_delete_tool_frame(self, tool_name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Name of tool frame to delete. |
- 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_tool_frame("test"))
arm.rm_delete_robot_arm()Update the specified tool frame rm_update_tool_frame()
- Method prototype:
python
rm_update_tool_frame(self, frame: rm_frame_t) -> int:Jump to rm_frame_t for details of the structure
- Parameter description:
| Parameter | Type | Description |
|---|---|---|
frame | rm_frame_t | Name of tool frame to update. |
- 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)
frame = rm_frame_t("test", [0.186350, 0.062099, 0.2, 3.141, 0, 1.569], 5, 1, 1, 1)
print(arm.rm_update_tool_frame(frame))
arm.rm_delete_robot_arm()Get names of all tool frames rm_get_total_tool_frame()
- Method prototype:
python
rm_get_total_tool_frame(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 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. |
- Names of all tool frames
| Parameter | Type | Description |
|---|---|---|
tool_names | list[str] | List of strings, representing the names of all tool frames. |
- Number of tool frame names
| Parameter | Type | Description |
|---|---|---|
len | int | Number of tool frame names. |
- 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_total_tool_frame())
arm.rm_delete_robot_arm()Get the specified tool frame rm_get_given_tool_frame()
- Method prototype:
python
rm_get_given_tool_frame(self, tool_name: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Tool frame name. |
- Return value:
tuple: 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. |
- Tool frame dictionary
| Parameter | Type | Description |
|---|---|---|
rm_frame_t | dict[str, any] | Tool frame dictionary, key: parameters of rm_frame_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_tool_frame("test"))
arm.rm_delete_robot_arm()Get the current tool frame rm_get_current_tool_frame()
- Method prototype:
python
rm_get_current_tool_frame(self) -> tuple[int, dict[str, any]]:- Return value:
tuple: 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. |
- Tool frame dictionary
| Parameter | Type | Description |
|---|---|---|
rm_frame_t | dict[str, any] | Tool frame dictionary, key: parameters of rm_frame_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_current_tool_frame())
arm.rm_delete_robot_arm()Set the envelope parameters of tool frame rm_set_tool_envelope()
- Method prototype:
python
rm_set_tool_envelope(self, envelope: rm_envelope_balls_list_t) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
envelope | rm_envelope_balls_list_t | Envelope parameter list. Each tool supports 0−5 envelope balls. |
- 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)
# Set three envelopes for the 'test' frame
envelop = rm_envelope_balls_list_t("test", [("L", 0.01, 0.1, 0.01, 0.010), ("R", 0.01, 0.1, 0.010, 0.010),
("C", 0.01, 0.1, 0.010, 0.010)], 3)
print(arm.rm_set_tool_envelope(envelop))
arm.rm_delete_robot_arm()Get the envelope parameters of tool frame rm_get_tool_envelope()
- Method prototype:
python
rm_get_tool_envelope(self, tool_name: str) -> tuple[int, dict[str, any]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | string | Tool frame name |
- Return value:
tuple: 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. |
- Tool frame dictionary
| Parameter | Type | Description |
|---|---|---|
rm_frame_t | dict[str, any] | Tool frame dictionary, key: parameters of rm_frame_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)
# Get the envelope parameters of the "test" frame
print(arm.rm_get_tool_envelope("test"))
arm.rm_delete_robot_arm()