### Install Robotic Arm Python Package

Source: https://develop.realman-robotics.com/robot4th/apipython/getStarted

Instructions for installing the Robotic Arm Python package using pip or by cloning the repository. Pip installation is the recommended method for most users. Cloning the repository allows for local development and access to the source code.

```bash
pip install Robotic_Arm
```

```bash
git clone https://github.com/RealManRobot/RM_API2.git
```

--------------------------------

### Connect to Robot Arm and Get Software Info (Python)

Source: https://develop.realman-robotics.com/robot4th/apipython/getStarted

Example Python code to connect to a RealMan robotic arm, retrieve its software version information, and print details like product version, algorithm library version, control layer software version, dynamics version, and planning layer software version. It includes error handling for cases where information retrieval fails.

```python
from Robotic_Arm.rm_robot_interface import *

robot = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = robot.rm_create_robot_arm("192.168.1.18", 8080)
print("机械臂ID：", handle.id)

software_info = robot.rm_get_arm_software_info()
if software_info[0] == 0:
    print("\n================== Arm Software Information ==================")
    print("Arm Model: ", software_info[1]['product_version'])
    print("Algorithm Library Version: ", software_info[1]['algorithm_info']['version'])
    print("Control Layer Software Version: ", software_info[1]['ctrl_info']['version'])
    print("Dynamics Version: ", software_info[1]['dynamic_info']['model_version'])
    print("Planning Layer Software Version: ", software_info[1]['plan_info']['version'])
    print("==============================================================\n")
else:
    print("\nFailed to get arm software information, Error code: ", software_info[0], "\n")
```

--------------------------------

### Get Installation Pose

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/installPos

Retrieves the current installation pose parameters (rotation, pitch, and yaw angles) of the robotic arm. The returned dictionary includes a status code and the pose values.

```APIDOC
## GET /rm_get_install_pose

### Description
Retrieves the current installation pose parameters, including rotation, pitch, and yaw angles, of the robotic arm. The response provides a status code and the corresponding pose values.

### Method
GET

### Endpoint
/rm_get_install_pose

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
None

### Response
#### Success Response (200)
- **return_code** (int) - 0 indicates success. Other values refer to API2 error codes.
- **x** (float) - Rotation angle in degrees.
- **y** (float) - Pitch angle in degrees.
- **z** (float) - Yaw angle in degrees.

#### Response Example
```json
{
  "return_code": 0,
  "x": 0.0,
  "y": 90.0,
  "z": 0.0
}
```
```

--------------------------------

### Set Installation Pose

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/installPos

Configures the installation pose parameters (rotation, pitch, and yaw angles) for the robotic arm. This is crucial as different installation methods affect the robot's dynamics and coordinate system.

```APIDOC
## POST /rm_set_install_pose

### Description
Sets the installation pose parameters (rotation, pitch, and yaw angles) for the robotic arm. This configuration is essential as it influences the robot's dynamic model and coordinate system orientation.

### Method
POST

### Endpoint
/rm_set_install_pose

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **x** (float) - Required - Rotation angle in degrees.
- **y** (float) - Required - Pitch angle in degrees.
- **z** (float) - Required - Yaw angle in degrees.

### Request Example
```python
{
  "x": 0.0,
  "y": 90.0,
  "z": 0.0
}
```

### Response
#### Success Response (200)
- **return_code** (int) - 0 indicates success. Other values refer to API2 error codes.

#### Response Example
```json
{
  "return_code": 0
}
```
```

--------------------------------

### Get Installation Angle

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Retrieves the current installation angles (X, Y, Z) of the robot arm.

```APIDOC
## Get Installation Angle

### Description
Retrieves the current installation angles (X, Y, Z) of the robot arm.

### Method
rm_algo_get_angle()

### Endpoint
N/A (Method of the Algo object)

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)

# Get the current robot arm installation angles
print(algo_handle.rm_algo_get_angle())
```

### Response
#### Success Response (200)
- **x** (float) - The current installation angle around the X-axis in degrees.
- **y** (float) - The current installation angle around the Y-axis in degrees.
- **z** (float) - The current installation angle around the Z-axis in degrees.

#### Response Example
```json
[0.0, 90.0, 0.0]
```
```

--------------------------------

### Get Installation Pose using rm_get_install_pose() - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/installPos

Retrieves the current installation pose of the robot arm, including rotation, pitch, and yaw angles. Returns a dictionary containing a status code and the pose angles. This function is useful for verifying or logging the robot's current orientation.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_install_pose())

arm.rm_delete_robot_arm()
```

--------------------------------

### Set Installation Pose using rm_set_install_pose() - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/installPos

Configures the installation pose of the robot arm by setting rotation, pitch, and yaw angles. Requires float inputs for angles in degrees and returns an integer status code. This function is crucial for adjusting the robot's kinematic model based on its mounting orientation.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_set_install_pose(0, 90, 0))

arm.rm_delete_robot_arm()
```

--------------------------------

### Start Multi-Mode Drag Teach - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/dragTeach

Starts a drag teaching session using a composite mode, defined by the `rm_multi_drag_teach_t` parameter. This allows for more complex teaching scenarios.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

param = rm_multi_drag_teach_t((0, 1, 1, 0, 1, 0), 0, 1)
result1 = arm.rm_start_multi_drag_teach_new(param)
time.sleep(2)
result2 = arm.rm_set_stop_teach()

arm.rm_delete_robot_arm()
```

--------------------------------

### Set Installation Angle

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Sets the installation angles (X, Y, Z) for the robot arm.

```APIDOC
## Set Installation Angle

### Description
Sets the installation angles (X, Y, Z) for the robot arm. These angles define the orientation of the robot's base.

### Method
rm_algo_set_angle()

### Endpoint
N/A (Method of the Algo object)

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- **x** (float) - Required - Installation angle around the X-axis in degrees.
- **y** (float) - Required - Installation angle around the Y-axis in degrees.
- **z** (float) - Required - Installation angle around the Z-axis in degrees.

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)

# Set the robot arm installation angles
algo_handle.rm_algo_set_angle(0, 90, 0)
```

### Response
#### Success Response (200)
- None (This method typically returns nothing upon successful execution).

#### Response Example
```json
null
```
```

--------------------------------

### Get Installation Angle - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Retrieves the current installation angles of the robot arm for the X, Y, and Z axes in degrees. This function returns a tuple of three floats. It requires an initialized Algo object.

```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65机械臂
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # 标准版
# 初始化算法的机械臂及末端型号
algo_handle = Algo(arm_model, force_type)

# 获取当前算法使用的机械臂安装角度
print(algo_handle.rm_algo_get_angle())
```

--------------------------------

### Set Installation Angle - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Sets the installation angle of the robot arm in degrees for the X, Y, and Z axes. This is crucial for accurate kinematic calculations. It requires an initialized Algo object and float values for each axis.

```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65机械臂
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # 标准版
# 初始化算法的机械臂及末端型号
algo_handle = Algo(arm_model, force_type)

# 设置当前算法使用的机械臂安装角度
algo_handle.rm_algo_set_angle(0,90,0)
```

--------------------------------

### Get Algorithm Library Version

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Retrieves the current version of the algorithm library.

```APIDOC
## Get Algorithm Library Version

### Description
Retrieves the current version of the algorithm library.

### Method
rm_algo_version()

### Endpoint
N/A (Method of the Algo object)

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)

# Get the current algorithm library version
print(algo_handle.rm_algo_version())
```

### Response
#### Success Response (200)
- **version** (str) - The version number of the algorithm library.

#### Response Example
```json
"1.2.3"
```
```

--------------------------------

### Start Drag Teach - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/dragTeach

Initiates the drag teaching process. It allows for the recording of the robot's trajectory during manual movement. The `trajectory_record` parameter determines if the path is saved.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_start_drag_teach(1))

arm.rm_delete_robot_arm()
```

--------------------------------

### Get Initial Pose

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/armState

Retrieves the currently set initial pose (joint angles) of the robotic arm.

```APIDOC
## Get Initial Pose `rm_get_init_pose()`

### Description
Retrieves the initial pose of the robotic arm, which consists of the joint angles set as the default starting position.

### Method
Python Function Call

### Endpoint
N/A (Local Function Call)

### Parameters
None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(arm.rm_get_init_pose())
arm.rm_delete_robot_arm()
```

### Response
#### Success Response (200)
- **status_code** (int) - 0 for success, other codes indicate errors.
- **initial_pose** (list[float]) - A list containing the joint angles (in degrees) for the initial pose.

#### Response Example
```json
{
  "status_code": 0,
  "initial_pose": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}
```
```

--------------------------------

### POST /rm_set_program_id_run

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/projectManagement

Starts running a specified online programming file by its ID. Allows control over speed and blocking behavior.

```APIDOC
## POST /rm_set_program_id_run

### Description
Starts running a specified online programming file by its ID. Allows control over speed and blocking behavior.

### Method
POST

### Endpoint
/rm_set_program_id_run

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **tra_id** (int) - Required - The ID of the trajectory to run (1-100).
- **speed** (int) - Required - The speed to run the trajectory (1-100). If 0, uses the stored speed.
- **timeout** (int) - Required - Blocking setting. 0 for non-blocking (multi-thread) or single-thread. Other values for blocking with timeout in seconds (single-thread).

### Request Example
```python
{
  "tra_id": 8,
  "speed": 20,
  "timeout": 1
}
```

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the function execution. 0 indicates success.

#### Response Example
```json
{
  "status_code": 0
}
```

#### Error Responses
- **1**: Controller returned false, invalid parameters or robot state error. Recommended actions: Validate JSON command, check robot state.
- **-1**: Data sending failed, communication issue. Recommended actions: Check network connectivity.
- **-2**: Data receiving failed, communication issue or controller timeout. Recommended actions: Check network connectivity, check version compatibility.
- **-3**: Return value parsing failed, incorrect or incomplete data format. Recommended actions: Check version compatibility.
- **-4**: Run state stopped but success not received, trajectory may have been stopped externally.
```

--------------------------------

### Get Arm Software Info in Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/controllerConfig

Retrieves the software version information for the robotic arm. The function returns a tuple containing a status code and a dictionary with software version details.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_arm_software_info())

arm.rm_delete_robot_arm()
```

--------------------------------

### GET /effectorIOConfig/get_voltage

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/effectorIOConfig

Retrieves the current voltage output setting of the power supply port on the robot's end effector.

```APIDOC
## GET /effectorIOConfig/get_voltage

### Description
Retrieves the current voltage output setting of the power supply port on the robot's end effector.

### Method
GET

### Endpoint
/effectorIOConfig/get_voltage

### Response
#### Success Response (200)
- **status_code** (int) - 0 for success, other codes indicate errors.
- **voltage_type** (int) - The current voltage output type (0 for 0V, 2 for 12V, 3 for 24V).

#### Response Example
```json
{
  "status_code": 0,
  "voltage_type": 3
}
```
```

--------------------------------

### Get System Runtime in Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/controllerConfig

Retrieves the cumulative runtime of the controller. The function returns a dictionary containing the day, hour, minute, and second of the total runtime, along with a status code.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_get_system_runtime())

arm.rm_delete_robot_arm()
```

--------------------------------

### Get UDP Robot Arm State Push Configuration

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/udpConfig

Retrieves the current UDP configuration for real-time robot arm status push. This allows users to verify the active settings.

```APIDOC
## GET /rm_get_realtime_push

### Description
Queries and returns the current UDP robot arm state push configuration.

### Method
GET

### Endpoint
/rm_get_realtime_push

### Parameters
None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)

print(arm.rm_get_realtime_push())

arm.rm_delete_robot_arm()
```

### Response
#### Success Response (200)
- **status_code** (int) - 0 indicates success. Other codes represent errors.
- **config_data** (dict[str, any]) - A dictionary containing the current UDP push configuration. Keys correspond to the fields in `rm_realtime_push_config_t`.

#### Response Example
```json
{
  "status_code": 0,
  "config_data": {
    "interval_ms": 100,
    "enable": true,
    "port": 8089,
    "coord_transform": 0,
    "ip_address": "192.168.1.104",
    "custom_config": {
      "joint_speed": 0,
      "lift_state": 0,
      "expand_state": 0
    }
  }
}
```
```

--------------------------------

### Algo Initialization

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Initializes the algorithm library with the specified robot arm model and force sensor type.

```APIDOC
## Algo Initialization

### Description
Initializes the algorithm library with the specified robot arm model and force sensor type.

### Method
__init__

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- **arm_model** (rm_robot_arm_model_e) - Required - The model of the robot arm.
- **force_type** (rm_force_type_e) - Required - The model of the force sensor.

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)
```

### Response
#### Success Response (200)
- None (Initialization is typically synchronous and does not return data on success)

#### Response Example
```json
null
```
```

--------------------------------

### Controller Configuration API

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/controllerConfig

This section details the API endpoints for system configuration, including retrieving controller status, managing power, and accessing runtime and software information.

```APIDOC
## GET /rm_get_controller_state

### Description
Retrieves the current state of the robotic arm controller, including voltage, current, temperature, and system error codes.

### Method
GET

### Endpoint
/rm_get_controller_state

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).
- **system_status** (dict) - Dictionary containing system status information:
  - **voltage** (float) - Current voltage.
  - **current** (float) - Current consumption.
  - **temperature** (float) - Controller temperature.
  - **sys_err** (int) - System error code.

#### Response Example
```json
{
  "status_code": 0,
  "system_status": {
    "voltage": 24.5,
    "current": 1.2,
    "temperature": 45.0,
    "sys_err": 0
  }
}
```
```

```APIDOC
## POST /rm_set_arm_power

### Description
Sets the power state of the robotic arm. Can be used to turn the arm on or off.

### Method
POST

### Endpoint
/rm_set_arm_power

### Parameters
#### Query Parameters
None

#### Request Body
- **power** (int) - Required - Power state: 1 for ON, 0 for OFF.

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).

#### Response Example
```json
{
  "status_code": 0
}
```
```

```APIDOC
## GET /rm_get_arm_power_state

### Description
Retrieves the current power state of the robotic arm.

### Method
GET

### Endpoint
/rm_get_arm_power_state

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).
- **power_state** (int) - Robotic arm power state: 1 for ON, 0 for OFF.

#### Response Example
```json
{
  "status_code": 0,
  "power_state": 1
}
```
```

```APIDOC
## GET /rm_get_system_runtime

### Description
Retrieves the cumulative runtime of the controller in days, hours, minutes, and seconds.

### Method
GET

### Endpoint
/rm_get_system_runtime

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).
- **runtime** (dict) - Dictionary containing runtime information:
  - **day** (int) - Cumulative days.
  - **hour** (int) - Cumulative hours.
  - **min** (int) - Cumulative minutes.
  - **sec** (int) - Cumulative seconds.

#### Response Example
```json
{
  "status_code": 0,
  "runtime": {
    "day": 5,
    "hour": 12,
    "min": 30,
    "sec": 45
  }
}
```
```

```APIDOC
## POST /rm_clear_system_runtime

### Description
Clears the cumulative runtime counter for the controller.

### Method
POST

### Endpoint
/rm_clear_system_runtime

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).

#### Response Example
```json
{
  "status_code": 0
}
```
```

```APIDOC
## GET /rm_get_joint_odom

### Description
Retrieves the cumulative rotation angle for each joint of the robotic arm.

### Method
GET

### Endpoint
/rm_get_joint_odom

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).
- **joint_angles** (list[float]) - A list of cumulative rotation angles for each joint.

#### Response Example
```json
{
  "status_code": 0,
  "joint_angles": [
    1.57,
    -0.78,
    0.0,
    1.04,
    0.0,
    0.0
  ]
}
```
```

```APIDOC
## POST /rm_clear_joint_odom

### Description
Clears the cumulative rotation angle for all joints of the robotic arm.

### Method
POST

### Endpoint
/rm_clear_joint_odom

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).

#### Response Example
```json
{
  "status_code": 0
}
```
```

```APIDOC
## GET /rm_get_arm_software_info

### Description
Retrieves the software version information for the robotic arm.

### Method
GET

### Endpoint
/rm_get_arm_software_info

### Parameters
#### Query Parameters
None

#### Request Body
None

### Response
#### Success Response (200)
- **status_code** (int) - Function execution status code (0 for success).
- **software_info** (dict) - A dictionary containing the robotic arm's software version details.

#### Response Example
```json
{
  "status_code": 0,
  "software_info": {
    "version": "1.2.3",
    "build_date": "2023-10-27"
  }
}
```
```

--------------------------------

### Python: Get Specific Work Coordinate System Pose

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/workCoordinateConfig

Retrieves the pose of a specified work coordinate system by its name. It returns a tuple containing a status code and the pose list. This function is used to get the exact transformation of a named coordinate system.

```python
from Robotic_Arm.rm_robot_interface import *

# Instantiate RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

```

--------------------------------

### Start Force-Position Hybrid Control Compensation (Python)

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/forcePositionControl

Enables the force-position hybrid control compensation mode. This function initiates the compensation process and returns a status code indicating success or failure. It requires instantiation of the RoboticArm class and establishing a connection.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_start_force_position_move())

arm.rm_delete_robot_arm()
```

--------------------------------

### GET /api/robotarm/singularity_avoidance

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/tipVelocityParameters

Retrieves the current singularity avoidance mode of the robotic arm.

```APIDOC
## GET /api/robotarm/singularity_avoidance

### Description
Retrieves the current singularity avoidance mode of the robotic arm. This allows checking the active singularity avoidance setting.

### Method
GET

### Endpoint
/api/robotarm/singularity_avoidance

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the operation. 0 indicates success.
- **current_mode** (int) - The current singularity avoidance mode. 0 for no avoidance, 1 for avoidance.

#### Response Example
```json
{
  "status_code": 0,
  "current_mode": 1
}
```
```

--------------------------------

### Switch Teaching Motion Coordinate System

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/teachMove

Switches the coordinate system used for teaching motions. It accepts an integer parameter where 0 indicates working coordinate system and 1 indicates tool coordinate system. Returns an integer status code.

```python
from Robotic_Arm.rm_robot_interface import *

# Instantiate RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create robot arm connection, print connection id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Switch teaching coordinate system to the current tool coordinate system
print(arm.rm_set_teach_frame(1))

arm.rm_delete_robot_arm()
```

--------------------------------

### GET /api/robotarm/dh_parameters

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/tipVelocityParameters

Retrieves the current Denavit-Hartenberg (DH) parameters of the robotic arm.

```APIDOC
## GET /api/robotarm/dh_parameters

### Description
Retrieves the current Denavit-Hartenberg (DH) parameters of the robotic arm. This is useful for understanding the robot's current kinematic configuration.

### Method
GET

### Endpoint
/api/robotarm/dh_parameters

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the operation. 0 indicates success.
- **dh_parameters** (object) - The current DH parameters.
  - **a** (list of float) - Link lengths.
  - **d** (list of float) - Link offsets.
  - **alpha** (list of float) - Link twists.
  - **offset** (list of float) - Joint offsets.

#### Response Example
```json
{
  "status_code": 0,
  "dh_parameters": {
    "a": [0.0, 0.5, 0.0, 0.0, 0.0, 0.0],
    "d": [0.1, 0.0, 0.0, 0.2, 0.0, 0.0],
    "alpha": [0.0, 1.5708, 0.0, 0.0, 1.5708, 0.0],
    "offset": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  }
}
```
```

--------------------------------

### GET /api/robotarm/max_angular_acceleration

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/tipVelocityParameters

Retrieves the maximum angular acceleration of the robotic arm's end-effector.

```APIDOC
## GET /api/robotarm/max_angular_acceleration

### Description
Retrieves the maximum angular acceleration of the robotic arm's end-effector. This parameter is important for controlling the rate of change of angular velocity.

### Method
GET

### Endpoint
/api/robotarm/max_angular_acceleration

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the operation. 0 indicates success.
- **max_angular_acceleration** (float) - The maximum angular acceleration in rad/s^2.

#### Response Example
{
  "status_code": 0,
  "max_angular_acceleration": 10.0
}
```

--------------------------------

### Instantiate RoboticArm and Connect

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/workCoordinateConfig

This snippet demonstrates how to instantiate the RoboticArm class and establish a connection to the robot arm. It includes creating a robot arm connection and printing its ID. Dependencies include the RoboticArm class and rm_thread_mode_e enum.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)
```

--------------------------------

### POST /effectorIOConfig/set_voltage

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/effectorIOConfig

Configures the voltage output for the power supply port on the robot's end effector.

```APIDOC
## POST /effectorIOConfig/set_voltage

### Description
Sets the voltage output for the power supply port on the robot's end effector.

### Method
POST

### Endpoint
/effectorIOConfig/set_voltage

### Parameters
#### Request Body
- **voltage_type** (int) - Required - The desired voltage output (0 for 0V, 2 for 12V, 3 for 24V).

### Request Example
```json
{
  "voltage_type": 3
}
```

### Response
#### Success Response (200)
- **status_code** (int) - 0 for success, other codes indicate errors.

#### Response Example
```json
{
  "status_code": 0
}
```
```

--------------------------------

### GET /api/robotarm/max_angular_speed

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/tipVelocityParameters

Retrieves the maximum angular speed of the robotic arm's end-effector.

```APIDOC
## GET /api/robotarm/max_angular_speed

### Description
Retrieves the maximum angular speed of the robotic arm's end-effector. This is crucial for controlling rotational movements and preventing excessive speeds.

### Method
GET

### Endpoint
/api/robotarm/max_angular_speed

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the operation. 0 indicates success.
- **max_angular_speed** (float) - The maximum angular speed in rad/s.

#### Response Example
{
  "status_code": 0,
  "max_angular_speed": 2.1
}
```

--------------------------------

### GET /api/robotarm/max_line_acceleration

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/tipVelocityParameters

Retrieves the maximum linear acceleration of the robotic arm's end-effector.

```APIDOC
## GET /api/robotarm/max_line_acceleration

### Description
Retrieves the maximum linear acceleration of the robotic arm's end-effector. This value is typically used for trajectory planning and ensuring safe operation.

### Method
GET

### Endpoint
/api/robotarm/max_line_acceleration

### Parameters
None

### Request Example
None

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the operation. 0 indicates success.
- **max_linear_acceleration** (float) - The maximum linear acceleration in m/s^2.

#### Response Example
{
  "status_code": 0,
  "max_linear_acceleration": 5.5
}
```

--------------------------------

### Move Robotic Arm in Cartesian Space using rm_movep_follow

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/movePlan

This example shows how to move the robotic arm in Cartesian space using the rm_movep_follow function. It establishes a connection, executes two different Cartesian poses (one using Euler angles, the other potentially with Quaternion interpretation based on list length), waits for completion, and then disconnects. The pose list can represent either Euler angles (length 6) or Quaternions (length 7).

```python
from Robotic_Arm.rm_robot_interface import *
import time

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

print(arm.rm_movep_follow([0,0,0.879,0,0,0]))
time.sleep(2)
print(arm.rm_movep_follow([0.3, 0, 0.3, 3.14, 0, 0]))
time.sleep(2)

arm.rm_delete_robot_arm()
```

--------------------------------

### Get Arm All State

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/armState

Retrieves all status information for the robotic arm.

```APIDOC
## Get Arm All State `rm_get_arm_all_state()`

### Description
Retrieves a comprehensive set of status information for the robotic arm. This includes all parameters defined in `rm_arm_all_state_t`.

### Method
Python Function Call

### Endpoint
N/A (Local Function Call)

### Parameters
None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(arm.rm_get_arm_all_state())
arm.rm_delete_robot_arm()
```

### Response
#### Success Response (200)
- **status_code** (int) - 0 for success, other codes indicate errors.
- **arm_all_state** (dict) - A dictionary containing all status information for the robotic arm. Keys correspond to parameters of `rm_arm_all_state_t`.

#### Response Example
```json
{
  "status_code": 0,
  "arm_all_state": {
    "current_arm_state": {...},
    "current_joint_temperature": [...],
    "current_joint_current": [...],
    "current_joint_voltage": [...],
    "init_pose": [...],
    "joint_degree": [...]
  }
}
```
```

--------------------------------

### Initialize Algorithm Interface - Python

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Initializes the algorithm interface for a specific robot arm model and force sensor type. This is a prerequisite for using other algorithm functions. It requires specifying the arm model and force sensor type using provided enumeration types.

```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65机械臂
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # 标准版
# 初始化算法的机械臂及末端型号
algo_handle = Algo(arm_model, force_type)
```

--------------------------------

### Get All IO Input States for Robot Controller (Python)

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/controllerIOConfig

Fetches the status of all four digital input ports on the robot controller. It returns a tuple containing a status code and a list representing the state of each input (high, low, or not configured as input). This is useful for reading signals from external sensors.

```python
from Robotic_Arm.rm_robot_interface import *

# 实例化RoboticArm类
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

# 创建机械臂连接，打印连接id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# 获取IO输入状态
print(arm.rm_get_io_input())

arm.rm_delete_robot_arm()
```

--------------------------------

### GET /rm_get_program_trajectory_list

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/projectManagement

Retrieves a list of online programming trajectories with support for pagination and fuzzy searching.

```APIDOC
## GET /rm_get_program_trajectory_list

### Description
Retrieves a list of online programming trajectories with support for pagination and fuzzy searching.

### Method
GET

### Endpoint
/rm_get_program_trajectory_list

### Parameters
#### Path Parameters
None

#### Query Parameters
- **page_num** (int) - Required - The page number.
- **page_size** (int) - Required - The number of items per page.
- **vague_search** (str) - Required - The fuzzy search string.

### Request Example
```
GET /rm_get_program_trajectory_list?page_num=1&page_size=10&vague_search=a
```

### Response
#### Success Response (200)
- **status_code** (int) - The status code of the function execution. 0 indicates success.
- **trajectory_list** (dict[str, any]) - A dictionary containing the retrieved online programming trajectories. Keys correspond to fields of the rm_program_trajectorys_t structure.

#### Response Example
```json
{
  "status_code": 0,
  "trajectory_list": {
    "rm_program_trajectorys_t": [
      {
        "id": 1,
        "name": "program1",
        "speed": 50
      }
    ]
  }
}
```
```

--------------------------------

### Get Current Tool Frame

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Retrieves the currently active tool coordinate system.

```APIDOC
## Get Current Tool Frame

### Description
Retrieves the currently active tool coordinate system. This is the reference frame for the end-effector.

### Method
rm_algo_get_curr_toolframe()

### Endpoint
N/A (Method of the Algo object)

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)

# Set the current tool frame (example)
frame = rm_frame_t("", [0.186350, 0.062099, 0.2, 3.141, 0, 1.569], 5, 1, 1, 1)
algo_handle.rm_algo_set_toolframe(frame)

# Get the current tool frame
print(algo_handle.rm_algo_get_curr_toolframe())
```

### Response
#### Success Response (200)
- **tool_frame** (dict[str, any]) - A dictionary representing the current tool coordinate system. Keys correspond to fields in the `rm_frame_t` structure.

#### Response Example
```json
{
  "name": "",
  "translation_rotation_and_scale": [0.186350, 0.062099, 0.2, 3.141, 0, 1.569],
  "x_scale": 5.0,
  "y_scale": 1.0,
  "z_scale": 1.0,
  "valid": true
}
```
```

--------------------------------

### Configure UDP Robot Status Push (Python)

Source: https://develop.realman-robotics.com/robot4th/apipython/struct/realtimePushConfig

Sets up the configuration for actively broadcasting robot status over UDP. Allows customization of broadcast cycle, enable/disable status reporting, target port, coordinate system for external force data, custom IP addresses, and specific data items to report.

```Python
class rm_realtime_push_config_t:
    def __init__(self, cycle: int = None, enable: bool = None, port: int = None, force_coordinate: int = None, ip: str = None, custom_config = None):
        # ... constructor implementation ...
        pass

    def to_dict(self, recurse: bool = True) -> dict:
        # ... method implementation ...
        return {}

```

--------------------------------

### Get Current Work Frame

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/algo

Retrieves the currently active work coordinate system.

```APIDOC
## Get Current Work Frame

### Description
Retrieves the currently active work coordinate system. This is the reference frame for subsequent robot commands.

### Method
rm_algo_get_curr_workframe()

### Endpoint
N/A (Method of the Algo object)

### Parameters
#### Path Parameters
- None

#### Query Parameters
- None

#### Request Body
- None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm_model = rm_robot_arm_model_e.RM_MODEL_RM_65_E  # RM_65 mechanical arm
force_type = rm_force_type_e.RM_MODEL_RM_B_E  # Standard version
# Initialize the algorithm with the robot arm and end-effector model
algo_handle = Algo(arm_model, force_type)

# Set the current work frame (example)
frame = rm_frame_t("", [0.186350, 0.062099, 0.2, 3.141, 0, 1.569])
algo_handle.rm_algo_set_workframe(frame)

# Get the current work frame
print(algo_handle.rm_algo_get_curr_workframe())
```

### Response
#### Success Response (200)
- **work_frame** (dict[str, any]) - A dictionary representing the current work coordinate system. Keys correspond to fields in the `rm_frame_t` structure.

#### Response Example
```json
{
  "name": "",
  "translation_rotation_and_scale": [0.186350, 0.062099, 0.2, 3.141, 0, 1.569],
  "x_scale": 1.0,
  "y_scale": 1.0,
  "z_scale": 1.0,
  "valid": true
}
```
```

--------------------------------

### Get Teaching Reference Coordinate System

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/teachMove

Retrieves the current reference coordinate system being used for teaching. It returns a tuple containing a status code and an integer representing the coordinate system (0 for working, 1 for tool).

```python
from Robotic_Arm.rm_robot_interface import *

# Instantiate RoboticArm class
arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
# Create robot arm connection, print connection id
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(handle.id)

# Get the current teaching coordinate system
print(arm.rm_get_teach_frame())

arm.rm_delete_robot_arm()
```

--------------------------------

### Get Current Joint Temperature

Source: https://develop.realman-robotics.com/robot4th/apipython/classes/armState

Retrieves the current temperature of each joint in the robotic arm.

```APIDOC
## Get Current Joint Temperature `rm_get_current_joint_temperature()`

### Description
Retrieves the current temperature for each joint of the robotic arm. The temperatures are returned as a list of floating-point numbers.

### Method
Python Function Call

### Endpoint
N/A (Local Function Call)

### Parameters
None

### Request Example
```python
from Robotic_Arm.rm_robot_interface import *

arm = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)
handle = arm.rm_create_robot_arm("192.168.1.18", 8080)
print(arm.rm_get_current_joint_temperature())
arm.rm_delete_robot_arm()
```

### Response
#### Success Response (200)
- **status_code** (int) - 0 for success, other codes indicate errors.
- **joint_temperatures** (list[float]) - A list containing the temperature (in Celsius) for joints 1 through 7.

#### Response Example
```json
{
  "status_code": 0,
  "joint_temperatures": [35.5, 36.1, 34.9, 35.2, 37.0, 36.5, 35.8]
}
```
```