Step-by-step Tutorial

This tutorial guides you through building a Python project environment from scratch, connecting to the controller, and executing basic motion commands.

Prerequisites

Python 3.x is installed, and the SDK version matches the Python version.

Quick Start

1. Prepare SDK Files

Obtain the Python version SDK from the resource download page. After extracting, you will get two files:

• _nrc_host.so — Dynamic library for Python interface calls
• nrc_interface.py — Python interface wrapper module

Place these two files in your project directory.

2. Connect to Controller

# -*- coding: UTF-8 -*-
import nrc_interface
import time

socketFd = nrc_interface.connect_robot("192.168.1.16", "6001")
print(socketFd)

if socketFd <= 0:
    import sys
    sys.exit(1)

pos = nrc_interface.VectorDouble(7)
nrc_interface.get_current_position(socketFd, 0, pos)
position = [pos[0], pos[1], pos[2], pos[3], pos[4], pos[5], pos[6]]
pos[0] = pos[0] - 1

nrc_interface.queue_motion_set_status(socketFd, True)
moveCmd = nrc_interface.MoveCmd()
moveCmd.coord = 0
moveCmd.targetPosType = nrc_interface.PosType_data
moveCmd.targetPosValue = pos
moveCmd.velocity = 20
moveCmd.acc = 20
moveCmd.dec = 20
moveCmd.pl = 5
nrc_interface.queue_motion_push_back_moveJ(socketFd, moveCmd)
nrc_interface.queue_motion_send_to_controller(socketFd, 1)
print(position)

3. Next Steps

• API Examples / Basic Applications — Connection, message callbacks
• API Examples / Advanced Applications — servo_move tracking motion