Python:

UDP-Based Real-Time Robotic Arm State Pushing Structure rm_realtime_arm_joint_state_t

Parameter description

Parameter	Type	Description
errCode	int	Data parsing error code, -3: data parsing error, indicating that the pushed data is incomplete or incorrectly formatted
arm_ip	bytes	Robotic arm IP address
joint_status	rm_joint_status_t	Robotic arm joint state structure
force_sensor	rm_force_sensor_t	Force sensor state structure
err	rm_err_t	Error code
waypoint	rm_pose_t	Current position and orientation structure
liftState	rm_udp_lift_state_t	Lifting joint state
expandState	rm_udp_expand_state_t	Expansion joint state
handState	rm_udp_hand_state_t	Dexterous hand state
arm_current_status	rm_udp_arm_current_status_e	Current robotic arm state
aloha_state	rm_udp_aloha_state_t	State of the ALOHA master arm
rm_plus_state	int	End-effector device status: 0 - Device is online, 1 - Protocol is not enabled, 2 - Protocol is enabled but the device is not online
plus_base_info	rm_plus_base_info_t	Basic information of the end-effector device
plus_state_info	rm_plus_state_info_t	Real-time information of the end-effector device

Member function

rm_realtime_arm_joint_state_t.to_dict(self,recurse = True)

Converts the structure to a dictionary.