Demo (python):

Frame Operation Demo

1. Project introduction

This project demonstrates the use of interfaces for creating, deleting, modifying, and querying the robot arm's work frame, enabling the setting of a new work frame for the robotic arm. It is built with Python and utilizes the Python language development package for the robotic arm provided by RealMan.

2. Code structure

RMDemo_CoordinateSystem/
│
├── README.md        <- Core project document
├── requirements.txt    <- List of project dependencies
├── setup.py        <- Project installation script
│
├── src/          <- Project source code
│  ├── main.py       <- Main procedure entry
│  └── core/        <- Core function or business logic code
│    └── demo_coordinate_system.py      <- Demo that demonstrates creating, deleting, modifying, and querying the frame.
└── Robotic_Arm/      <- RealMan robotic arm secondary development package

3. Project download

Download RM_API2 locally via the link: development package download. Then, navigate to the RM_API2\Demo\RMDemo_Python directory, where you will find RMDemo_CoordinateSystem.

4. Environment configuration

Required environment and dependencies for running in Windows and Linux environments:

Item	Linux	Windows
System architecture	x86 architecture	-
python	3.9 or higher	3.9 or higher
Specific dependency	-	-

Linux configuration

1. Refer to the python official website - linux to download and install python3.9.

2. After entering the project directory, open the terminal and run the following command to install dependencies:

pip install -r requirements.txt

Windows configuration

1. Refer to the python official website - Windows to download and install python3.9.

2. After entering the project directory, open the terminal and run the following command to install dependencies:

pip install -r requirements.txt

5. User guide

5.1 Quick run

1. Configuration of the IP address of the robotic arm: open the demo_coordinate_system.py file and modify the initialization parameters of the RobotArmController class in the main function to the current IP address of the robotic arm. The default IP address is "192.168.1.18".

   robot_controller = RobotArmController("192.168.1.18", 8080, 3)

2. Running via command line: navigate to the RMDemo_CoordinateSystem directory in the terminal and enter the following command to run the Python script:

   python ./src/main.py

3. Demo and description of running results

   current api version:  0.2.9
   Successfully connected to the robot arm: 1
   API Version:  0.2.9 
   Manually set work frame succeeded
   Update work frame succeeded
   Get work frame succeeded:  [0.30000001192092896, 0.0, 0.30000001192092896, 3.1419999599456787, 0.0, 0.0] 
   Delete work frame succeeded
   Successfully disconnected from the robot arm

   Description of running results:

5.2 Description of key codes

The following are the main functions of the demo_coordinate_system.py file:

• Connect the robotic arm Connect the robotic arm to the specified IP address and port.

  robot_controller = RobotArmController("192.168.1.18", 8080, 3)

• Get the API version Get and display the API version.

  print("\nAPI Version: ", rm_api_version(), "\n")

• Manually set the work frame Manually set the work frame named "test" with a pose of [0, 0, 0, 0, 0, 0].

  robot_controller.set_manual_work_frame("test", [0, 0, 0, 0, 0, 0])

• Update the work frame Update the work frame named "test" with a pose of [0.3, 0, 0.3, 3.142, 0, 0].

  robot_controller.update_work_frame("test", [0.3, 0, 0.3, 3.142, 0, 0])

• Query the specified work frame Query the work frame named "test" and display the result.

  robot_controller.get_given_work_frame("test")

• Delete the work frame Delete the work frame named "test".

  robot_controller.delete_work_frame("test")

• Disconnect from the robotic arm Disconnect from the robotic arm.

  robot_controller.disconnect()

6. License information

• This project is subject to the MIT license.