Python:
Work Frame ConfigurationWorkCoordinateConfig It is used to automatically/manually set, delete, and switch work frames, etc. The following is a detailed description of the member functions of the work frame WorkCoordinateConfig, including the method prototype, parameter description, return value, and usage demo.
Automatically set the work frame with the 3-point methodrm_set_auto_work_frame()
- Method prototype:
python
rm_set_auto_work_frame(self, name: str, point_num: int) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Work frame name, no longer than 10 bytes. |
point_num | int | 1 to 3 represent the three calibration points, corresponding to the origin, a point on the X-axis, and a point on the Y-axis in sequence. 4 represents the creation of the 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)
# Set the joint angles [0, 20, 70, 0, 90, 0] as the origin of the work frame
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, 1))
print(arm.rm_set_auto_work_frame("test_work", 1))
# Set a point on the X-axis of the work frame
time.sleep(1)
result = arm.rm_get_current_arm_state()
result[1]["pose"][0] += 0.1 # 0.1 m along the X-axis
result = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
print(arm.rm_set_auto_work_frame("test_work", 2))
# Set a point on the Y-axis of the work frame
time.sleep(1)
print(arm.rm_movej([0, 20, 70, 0, 90, 0], 20, 0, 0, 1))
result = arm.rm_get_current_arm_state()
result[1]["pose"][1] += 0.1 # 0.1 m along the Y-axis
result = arm.rm_movel(result[1]["pose"], 20, 0, 0, 1)
print(arm.rm_set_auto_work_frame("test_work", 3))
# Create the "test_work" frame
print(arm.rm_set_auto_work_frame("test_work", 4))
arm.rm_delete_robot_arm()Manually set the work framerm_set_manual_work_frame()
- Method prototype:
python
rm_set_manual_work_frame(self, name: str, pose: list) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Work frame name, no longer than 10 bytes. |
pose | list | Pose of the new work frame relative to the base 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_set_manual_work_frame("test", [-0.259256, -0.170727, 0.35621, 0, -0.447394, -1.81038]))
arm.rm_delete_robot_arm()Change the current work frame rm_change_work_frame()
- Method prototype:
python
rm_change_work_frame(self, tool_name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Name of the target work 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_work_frame("test"))
arm.rm_delete_robot_arm()Delete the specified work frame rm_delete_work_frame()
- Method prototype:
python
rm_delete_work_frame(self, tool_name: str) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
tool_name | str | Name of work 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_work_frame("test"))
arm.rm_delete_robot_arm()Update the specified work frame rm_update_work_frame()
- Method prototype:
python
rm_update_work_frame(self, name: str, pose: list) -> int:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Name of the specified tool frame. |
pose | list | Update the pose of the work frame relative to the base 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_update_work_frame("test", [0,0,0,0,0,0]))
arm.rm_delete_robot_arm()Get names of all work framesrm_get_total_work_frame()
- Method prototype:
python
rm_get_total_work_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 work frames
| Parameter | Type | Description |
|---|---|---|
tool_names | list[str] | List of strings, representing the names of all work frames. |
- Number of work frame names
| Parameter | Type | Description |
|---|---|---|
len | int | Number of work 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_work_frame())Get the specified work frame rm_get_given_work_frame()
- Method prototype:
python
rm_get_given_work_frame(self, name: str) -> tuple[int, list[float]]:- Parameter description:
| Parameter | Type | Description |
|---|---|---|
name | str | Name of the specified work frame. |
- Return value: tuple[int, list[float]]: a tuple containing two elements.
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. |
- Work frame pose
| Parameter | Type | Description |
|---|---|---|
pose | list[float] | List of work frame poses. |
- 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_work_frame("test"))
arm.rm_delete_robot_arm()Get the current work frame rm_get_current_work_frame()
- Method prototype:
python
rm_get_current_work_frame(self) -> tuple[int, dict[str, any]]:- Return value:
tuple[int, dict[str, any]]: a tuple containing two elements.
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. |
- Work frame pose
| Parameter | Type | Description |
|---|---|---|
rm_frame_t | dict[str, any] | Work 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_work_frame())
arm.rm_delete_robot_arm()