JSON protocol:
End Effector Command set (optional) 
End-tool action management
RealMan robotic arm’s functions related to the end effector action list enable comprehensive management and control of end effector actions.
Get the end tool action listget_tool_action_list
- Input parameter
| Parameter | Type | Description |
|---|---|---|
get_tool_action_list | string | Query the action list. |
page_num | int | Page number (Do not pass this parameter when querying all). |
page_size | int | Page size (Do not pass this parameter when querying all). |
vague_search | string | Fuzzy search (Pass this parameter to perform fuzzy query). |
- Output parameter
| Parameter | Type | Description |
|---|---|---|
get_tool_action_list | string | Query the action list. |
total_size | int | Total number of actions. |
list | object | Detailed action information. |
- Code demo
Input
{"command":"get_tool_action_list"}Output
{
"action_list": [
{
"hand_pos": [0, 0, 0, 0, 0, 0],
"name": "Realman"
},
{
"hand_pos": [0, 0, 0, 0, 0, 0],
"name": "111111111111111"
},
{
"hand_pos": [0, 0, 0, 0, 0, 0],
"name": "QN-Tactile"
},
{
"hand_pos": [14, 19, 18, 9, 6, 4],
"name": "QN-Gripper Closure"
},
{
"hand_pos": [14, 19, 18, 9, 6, 4],
"name": "QN-Gripper Closure-1-1-1-1"
},
{
"hand_pos": [14, 19, 18, 9, 6, 4],
"name": "Qiangnao-Target Position"
},
{
"hand_pos": [12],
"name": "Open-1-1-1-1"
},
{
"hand_pos": [12000],
"name": "Gripper Closure-1-1-1-1"
},
{
"hand_pos": [12],
"name": "Open-1-1-1"
},
{
"hand_pos": [12000],
"name": "Gripper Closure-1-1-1"
},
{
"hand_pos": [12],
"name": "Open-1-1"
},
{
"hand_pos": [12000],
"name": "Gripper Closure-1-1"
},
{
"hand_pos": [12],
"name": "Open-1"
},
{
"hand_pos": [12000],
"name": "Gripper Closure-1"
},
{
"hand_pos": [12000],
"name": "Gripper Closure"
},
{
"hand_pos": [12],
"name": "Open"
}
],
"command": "get_tool_action_list",
"total_size": 16
}Run the specified end effector actionrun_tool_action
- Input parameter
| Parameter | Type | Description |
|---|---|---|
run_tool_action | string | Start running the numbered trajectory. |
name | string | Run the action with the specified name; it can run as long as the action exists. |
- Output parameter
| Parameter | Type | Description |
|---|---|---|
run_state | bool | true: Start running. false: Run failed. |
run_tool_action | string | The trajectory file runs in place. |
- Code demo
Input
Start running the action "123".
{
"command": "run_tool_action",
"name": "123"
}Output
Start running succeeded.
{
"command": "run_tool_action",
"run_state": true
}Start running failed.
{
"command": "run_tool_action",
"run_state": false
}After the end action is completed, the operation end command is returned.
{
"state": "current_trajectory_state",
"trajectory_state": true,
"device": 5,
"trajectory_connect": 0
}Delete the specified end effector actiondelete_tool_action
- Input parameter
| Parameter | Type | Description |
|---|---|---|
delete_tool_action | string | Delete the action with the specified name. |
name | string | The name of the action to be deleted. |
- Output parameter
| Parameter | Type | Description |
|---|---|---|
delete_state | bool | true: Succeeded. false: Failed. |
- Code demo
Input
Delete trajectory 2.
{
"command": "delete_tool_action",
"name": "pick"
}Output
Deletion succeeded.
{
"command": "delete_tool_action",
"delete_state": true
}Deletion failed.
{
"command": "delete_tool_action",
"delete_state": false
}Save the end tool actionsave_tool_action
- Input parameter
| Parameter | Type | Description |
|---|---|---|
save_tool_action | string | Save the action. |
name | string | The name of the action to be saved. |
hand_pos | array | Position. |
hand_angle | array | Angle. |
- Output parameter
| Parameter | Type | Description |
|---|---|---|
save_state | bool | true: Succeeded. false: Failed. |
- Code demo
Input
{
"command": "save_tool_action",
"name": "pick",
"hand_pos": [0, 0, 0, 0, 0, 0]
}
{
"command": "save_tool_action",
"name": "pick",
"hand_angle": [0, 0, 0, 0, 0, 0]
}Output
Saving succeeded.
{
"command": "save_tool_action",
"save_state": true
}Saving failed.
{
"command": "save_tool_action",
"save_state": false
}Update the end tool actionupdate_tool_action
- Input parameter
| Parameter | Type | Description |
|---|---|---|
update_tool_action | string | Update the action. |
name | string | The name of the action to be updated. |
new_name | string | New action name. |
hand_pos | array | Position. |
hand_angle | array | Angle. |
- Output parameter
| Parameter | Type | Description |
|---|---|---|
update_state | bool | true: Succeeded. false: Failed. |
- Code demo
Input
{
"command": "update_tool_action",
"name": "pick",
"new_name": "1",
"hand_pos": [0, 0, 0, 0, 0, 0]
}
{
"command": "update_tool_action",
"name": "pick",
"new_name": "1",
"hand_angle": [0, 0, 0, 0, 0, 0]
}Output
Update succeeded.
{
"command": "update_tool_action",
"update_state": true
}Update failed.
{
"command": "update_tool_action",
"update_state": false,
}Trajectory end return flagcurrent_trajectory_state
The trajectory is the current trajectory.
- Input parameter
| Parameter | Type | Description |
|---|---|---|
current_trajectory_state | string | Return flag when the current trajectory ends. |
device | int | 0: Joint, 1: Gripper, 2: Dexterous Hand, 3: Lifting Mechanism, 4: Extended Joint, 5: End Tool Action, Others: Reserved. |
- Code demo
Implementation: The current trajectory reaches the target.
{
"state": "current_trajectory_state",
"trajectory_state": true,
"device": 0
}End-tool control
End-Effector Angle Following Control 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).
- Input parameter
| Parameter | Type | Description |
|---|---|---|
hand_follow_angle | string | Sets the angles for the degrees of freedom. |
- Code demo
Input
{"command":"hand_follow_angle","hand_angle":[1000,1000,2000,3000,4000,5000]}INFO
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
Output
Setting succeeded
{
"command": "hand_follow_angle",
"set_state": true
}Setting failed
{
"command": "hand_follow_angle",
"set_state": false
}End-Effector Position Following Control 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).
- Input parameter
| Parameter | Type | Description |
|---|---|---|
hand_follow_pos | string | Sets the positions for the degrees of freedom. |
- Code demo
Input
{"command":"hand_follow_pos","hand_pos":[10000]}INFO
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
Output Setting succeeded
{
"command": "hand_follow_pos",
"set_state": true
}Setting failed
{
"command": "hand_follow_pos",
"set_state": false
}