Python:
Robotic Arm In-Position Event Structurerm_event_push_data_t It is used to receive various events about the robotic arm, such as planned trajectory in position and online programming in position. The callback function is registered through the rm_get_arm_event_call_back to process this structure.
Parameter description
| Parameter | Type | Description |
|---|---|---|
handle_id | int | Robotic arm connection ID, used to identify a specific robotic arm connection. |
event_type | rm_event_type_e | Event type, 0: non-event, 1: current planned trajectory in position, 2: current online programming in position. |
trajectory_state | bool | State of the in-position planned trajectory, true: success, false: failure. |
device | int | ID of the current in-position planned device, used to distinguish different types of devices, 0: joint, 1: gripper, 2: dexterous hand, 3: lifting mechanism, 4: expansion joint, others: reserved. |
trajectory_connect | int | Current in-position planned trajectory connected to the next trajectory or not: 0: all trajectories in position, 1: connected to the next trajectory. |
program_id | int | Current in-position online programming. |