Python:

Five-Fingered Dexterous Hand Configuration HandControl

It is used to set the five-fingered dexterous hand control. The following is a detailed description of the member functions of the five-fingered dexterous hand configuration HandControl, including the method prototype, parameter description, return value, and usage demo.

Run dexterous hand target gesture sequence number rm_set_hand_posture()

• Method prototype:

rm_set_hand_posture(self, posture_num: int, block: bool, timeout: int) -> int:

• Parameter description:

Parameter	Type	Description
posture_num	int	Gesture sequence number pre-stored in the dexterous hand, range: 1−40
block	bool	true: blocking mode, return after the dexterous hand finishes its movement; false: non-blocking mode, immediately return after sending the command
timeout	int	Timeout setting in blocking mode, in s

• Return value:
  State codes executed by functions:

Parameter	Type	Description	Handling Suggestions
0	int	Success.	-
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.	- Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.	Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.	- Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.	Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-4	int	The current in-position equipment verification fails, indicating the current in-position equipment is not a dexterous hand.	- Detect Concurrent Control by Multiple Devices: Check if other devices are sending motion commands to the robot arm, including the motion of the robot arm, gripper, dexterous hand, and elevator. - Monitor Command Events in Real-Time: Register the callback function rm_get_arm_event_call_back: ① Capture device arrival events (such as motion completion, timeout, etc.). ② Determine the specific device type that triggered the event through the device parameter in the callback.
-5	int	Timeout, no response returns.	- Check Timeout Setting: In blocking mode, it supports configuring the timeout for waiting for the device to complete its motion. Ensure that the timeout is set longer than the device's motion time. - Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.

• Usage demo

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_hand_posture(1, True, 10))

arm.rm_delete_robot_arm()

Run dexterous hand action sequence number rm_set_hand_seq()

• Method prototype:

rm_set_hand_seq(self, seq_num: int, block: bool, timeout: int) -> int:

• Parameter description:

Parameter	Type	Description
seq_num	int	Gesture sequence number pre-stored in the dexterous hand, range: 1−40
block	bool	true: blocking mode, return after the dexterous hand finishes its movement; false: non-blocking mode, immediately return after sending the command
timeout	int	Timeout setting in blocking mode, in s

• Return value:
  State codes executed by functions:

Parameter	Type	Description	Handling Suggestions
0	int	Success.	-
1	int	The controller returns false, indicating that the parameters are sent incorrectly or the robotic arm state is wrong.	- Validate JSON Command: ① Enable DEBUG logs for the API to capture the raw JSON data. ② Check JSON syntax: Ensure correct formatting of parentheses, quotes, commas, etc. (You can use a JSON validation tool). ③ Verify against the API documentation that parameter names, data types, and value ranges comply with the specifications. ④ After fixing the issues, resend the command and check if the controller returns a normal status code and business data. - Check Robot Arm Status: ① Check for real-time error messages in the robot arm controller or logs (such as hardware failures, over-limit conditions), and reset, calibrate, or troubleshoot hardware issues according to the prompts. ② After fixing the issues, resend the command and check if the controller returns a normal status code and business data.
-1	int	The data transmission fails, indicating that a problem occurs during the communication.	Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.
-2	int	The data reception fails, indicating that a problem occurs during the communication, or the controller has a return timeout.	- Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal. - Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-3	int	The return value parse fails, indicating that the received data format is incorrect or incomplete.	Verify Version Compatibility: ① Check if the controller firmware version supports the current API functions. For specific version compatibility, refer to the Version Description. ② If the version is too low, upgrade the controller or use an API version that is compatible.
-4	int	The current in-position equipment verification fails, indicating the current in-position equipment is not a dexterous hand.	- Detect Concurrent Control by Multiple Devices: Check if other devices are sending motion commands to the robot arm, including the motion of the robot arm, gripper, dexterous hand, and elevator. - Monitor Command Events in Real-Time: Register the callback function rm_get_arm_event_call_back: ① Capture device arrival events (such as motion completion, timeout, etc.). ② Determine the specific device type that triggered the event through the device parameter in the callback.
-5	int	Timeout, no response returns.	- Check Timeout Setting: In blocking mode, it supports configuring the timeout for waiting for the device to complete its motion. Ensure that the timeout is set longer than the device's motion time. - Check Network Connectivity: Use tools like ping/telnet to check if the communication link with the controller is normal.

• Usage demo

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_hand_seq(1, True, 15))

arm.rm_delete_robot_arm()

Set the angles of the dexterous hand’s degrees of freedomrm_set_hand_angle()

• Method prototype:

rm_set_hand_angle(self, hand_angle: list[int], block: bool, timeout: int) -> int:

• Parameter description:

Parameter	Type	Description
hand_angle	list[int]	Array of finger angles, range: 0~1000, -1 indicates that no operation is performed on this degree of freedom and the current state is maintained.
block	bool	true: blocking mode, return after the dexterous hand finishes its movement; false: non-blocking mode, immediately return after sending the command
timeout	int	Timeout setting in blocking mode, in s

• Return value:
  State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

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 finger angles of the dexterous hand
print(arm.rm_set_hand_angle([-1,100,200,300,400,500]),True,1)

arm.rm_delete_robot_arm()

Set the speed of the dexterous handrm_set_hand_speed()

• Method prototype:

rm_set_hand_speed(self, speed: int) -> int:

• Parameter description:

Parameter	Type	Description
speed	int	Finger speed, range: 1−1,000

• Return value:
  State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

from Robotic_Arm.rm_robot_interface import *

# Instantiate the RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_hand_speed(500))

arm.rm_delete_robot_arm()

Set the force threshold of the dexterous handrm_set_hand_force()

• Method prototype:

rm_set_hand_force(self, force: int) -> int:

• Parameter description:

Parameter	Type	Description
force	int	Finger force, range: 1−1,000

• Return value:
  State codes executed by functions:

0 represents success. For other error codes, please refer to the API2 Error Codes.

• Usage demo

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_hand_force(500))

arm.rm_delete_robot_arm()