English

简体中文

English

简体中文

Appearance

End-Effector Ecosystem Protocol Configuration RmPlusConfig ​

Read End-Effector Basic Information (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_base_info() ​

  • Method prototype:
python
rm_get_rm_plus_base_info(self) -> tuple[int,dict[str, any]]:
  • Return value:

tuple[int,dict[str, any]]: A tuple containing two elements.

  1. State codes executed by functions: 0 represents success. For other error codes, please refer to the API2 Error Codes.
  2. End-effector basic information:
    • dict[str, any] A dictionary of end-effector basic information, with keys being the field names of the rm_plus_base_info_t structure.
  • 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 a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)  

# Read the end-effector basic information
tag, base_info = arm.rm_get_rm_plus_base_info()
print(tag, base_info)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Read End-Effector Real-Time Information (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_state_info() ​

  • Method prototype:
python
rm_get_rm_plus_state_info(self) -> tuple[int, dict[str, any]]:
  • Return value:

tuple[int, dict[str, any]]: A tuple containing two elements.

  1. State codes executed by functions: 0 represents success. For other error codes, please refer to the API2 Error Codes.
  2. End-effector real-time information:
    • dict[str, any] A dictionary of end-effector real-time information, with keys being the field names of the rm_plus_state_info_t structure.
  • 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 a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Read the end-effector real-time information
tag, state_info = arm.rm_get_rm_plus_state_info()
print(tag, state_info)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()