The client control for Techman TM5 robot arm. Modules are shown in level top-down
robot_test.py
tm_robot.py: Implementation of some basic robot actions under class TM5_Robot:
- Open/Close gripper
- Move to
- Move joints
- Go home
- Check grasping status
- Enable free servos
tm_robot_state_rt.py: Class TmRobotStateRT has robot state and method to parse TCP packages from robot
tm_communication.py: Handle TCP/IP connection between host and robot. It includes sending command, read back robot status All robot state in TmRobotStateRT to be updated after called to readRobotState.