Python:

End-Effector Ecosystem Protocol Configuration RmPlusConfig

Set End-Effector Ecosystem Protocol Mode rm_set_rm_plus_mode()

• Method prototype:

rm_set_rm_plus_mode(self, mode: int) -> int:

• Parameter description:

Parameter	Type	Description
mode	int	End-effector ecosystem protocol mode. 0: Disable protocol, 9600: Enable protocol (baud rate 9600), 115200: Enable protocol (baud rate 115200), 256000: Enable protocol (baud rate 256000), 460800: Enable protocol (baud rate 460800).

• 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 a robotic arm connection and print the connection ID

# 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)
# Set the end-effector ecosystem protocol mode
arm.rm_set_rm_plus_mode(9600)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Get End-Effector Ecosystem Protocol Mode rm_get_rm_plus_mode()

• Method prototype:

rm_get_rm_plus_mode(self) -> tuple[int, int]:

• Return value:

tuple[int, int]: 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 ecosystem protocol mode:
   • 0: Disable protocol
   • 9600: Enable protocol (baud rate 9600)
   • 115200: Enable protocol (baud rate 115200)
   • 256000: Enable protocol (baud rate 256000)
   • 460800: Enable protocol (baud rate 460800)

• Usage demo

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)

# Get the end-effector ecosystem protocol mode
tag, mode = arm.rm_get_rm_plus_mode()
print(tag, mode)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Set Tactile Sensor Mode (Supported by End-Effector Ecosystem Protocol) rm_set_rm_plus_touch()

• Method prototype:

rm_set_rm_plus_touch(self,mode: int) -> int:

• Parameter description:

Parameter	Type	Description
mode	int	Tactile sensor switch status. 0: Disable tactile sensor, 1: Enable tactile sensor (return processed data), 2: Enable tactile sensor (return raw data)

• 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 a robotic arm connection and print the connection ID
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
# Set the tactile sensor mode
arm.rm_set_rm_plus_touch(1)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

Get Tactile Sensor Mode (Supported by End-Effector Ecosystem Protocol) rm_get_rm_plus_touch()

• Method prototype:

rm_get_rm_plus_touch(self) -> tuple[int,int]:

• Return value:

tuple[int,int]: 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. Tactile sensor switch status:
   • 0: Disable tactile sensor
   • 1: Enable tactile sensor (return processed data)
   • 2: Enable tactile sensor (return raw data)

• Usage demo

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)
# Get the tactile sensor mode
tag, mode = arm.rm_get_rm_plus_touch()
print(tag, mode)
# Disconnect all connections and destroy the thread
RoboticArm.rm_destroy()

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

• Method prototype:

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

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:

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

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()

Set end-effector angle-following control rm_set_hand_follow_angle()

Sets the follow angle with a maximum control frequency of 50Hz.

• Dexterous Hand: 6 active degrees of freedom (DoF) — DoF 1 (Thumb flexion), DoF 2 (Index finger), DoF 3 (Middle finger), DoF 4 (Ring finger), DoF 5 (Little finger), DoF 6 (Thumb rotation/opponency).

• 2-Finger Gripper: 1 active degree of freedom (DoF).

WARNING

To use this feature, please contact technical support to obtain and flash the customized firmware upgrade package for the end-effector tool (dexterous hand/gripper).

• Method prototype:

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

• Parameter description:

Parameter	Type	Description
hand_angle	List[int]	Sets the angles for the degrees of freedom. When configuring individual finger movements for the dexterous hand, hand_angle represents an array of finger angles controlled according to the definitions specified by the hand manufacturer. For example, dexterous hand angle definitions (Unit: 0.01°): Thumb: 0 ~ 7400; Index Finger: 0 ~ 8500; Middle Finger: 0 ~ 8400; Ring Finger: 0 ~ 8500; Little Finger: 0 ~ 8400; Thumb Yaw/Rotation: 0 ~ 11000
block	bool	true: Indicates non-blocking mode, returns after sending successfully. false: Indicates blocking mode, returns after receiving the successful setting command.

• 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 angle follow control of the dexterous hand
print(arm.rm_set_hand_follow_angle([0,100,200,300,400,500], True))

arm.rm_delete_robot_arm()

Set end-effector position-following control rm_set_hand_follow_pos()

Sets the follow position for the end-effector tool with a maximum control frequency of 50Hz.

• Dexterous Hand: 6 active degrees of freedom (DoF) — DoF 1 (Thumb flexion), DoF 2 (Index finger), DoF 3 (Middle finger), DoF 4 (Ring finger), DoF 5 (Little finger), DoF 6 (Thumb rotation/opponency).

• 2-Finger Gripper: 1 active degree of freedom (DoF).

WARNING

To use this feature, please contact technical support to obtain and flash the customized firmware upgrade package for the end-effector tool (dexterous hand/gripper).

• Method prototype:

rm_set_hand_follow_pos(self, hand_pos: list[int], block: bool) -> int

• Parameter description:

Parameter	Type	Description
hand_pos	list[int]	Sets the positions for the degrees of freedom. When configuring the position for the 2-finger gripper, hand_pos represents an array of DoF positions controlled according to the definitions specified by the gripper manufacturer. For example, 2-finger gripper DoF definitions: Travel Range: 0 ~ 120mm; Actuator Stroke: 0 ~ 12000
block	bool	true: Indicates non-blocking mode, returns after sending successfully. false: Indicates blocking mode, returns after receiving the successful setting command.

• 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 position follow control of the dexterous hand
print(arm.rm_set_hand_follow_pos([0,100,200,300,400,500], True))

arm.rm_delete_robot_arm()