xArm-Python-SDK
Overview
xArm Python SDK
Caution
- There is currently no collision detection, so try not to be close during use.
- During use, people should stay away from the robot arm to avoid accidental injury or damage to other items by the robot arm.
- Protect the arm before use.
- Before you exercise, please make sure you don't encounter obstacles.
- Protect the arm before unlocking the motor.
Installation
Install is not necessary, you can run examples without installation.Only Python3 is supported.
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download
git clone git@github.com:xArm-Developer/xArm-Python-SDK.git -
install
python setup.py install
Update summary for 0.2.1
- Added GPIO example
- Compatible with old reporting protocols using new reporting protocols
- New tools to convert xArmStudio's app code into Python code
Update summary for 0.2.0
- Support torque detection
- Support drag teaching mode
Update summary for 0.1.1
- Support GPIO interface
Update Summary for 0.1.0
- Compatible with 5, 6, and 7 axis robot arms
Update Summary for 0.0.13
- Supports trajectory repeat motion interface with circular interpolation, supports repetition times, calibration
- Increase joint limits, attitude angle limits and cmd cache limits
- Exchange the parameters of the attitude angle yaw and the attitude angle pitch, but retain the parameter position
Update Summary for 0.0.12
- By specifying the value of the default parameter of the interface in the instantiation parameter, using angle or radians
- Unify all interfaces by default using angle or radians
- More interface routines
- More detailed interface documentation
- Richer interface
- Set interface alias
- Modified the default values of the default parameters of some interfaces, but support the use of parameters to be compatible when instantiating
Update Summary for 0.0.11
- Support serial port and TCP connection
- Support parameter to enable reporting
- Support callback register and release
- Support Gripper setting
- Support servo setting (Some interfaces are limited to professional debugging)
- Unified return value
- Snaps an exception and returns the specified return value
Doc
Example
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xArm
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0001-connect-with-serial --> xarm5 --- xarm6 --- xarm7
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0002-connect_with_socket --> xarm5 --- xarm6 --- xarm7
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0003-event_register --> xarm5 --- xarm6 --- xarm7
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0004-handle_error_warn --> xarm5 --- xarm6 --- xarm7
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0005-get_property --> xarm5 --- xarm6 --- xarm7
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0006-get --> xarm5 --- xarm6 --- xarm7
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0007-servo_attach_detach --> xarm5 --- xarm6 --- xarm7
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0008-send_cmd --> xarm5 --- xarm6 --- xarm7
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0009-set_gripper--> xarm5 --- xarm6 --- xarm7
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0101-move_line --> xarm5 --- xarm6 --- xarm7
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0102-move_line --> xarm5 --- xarm6 --- xarm7
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0103-move_line --> xarm5 --- xarm6 --- xarm7
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0104-move_line --> xarm5 --- xarm6 --- xarm7
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0105-relative_move_line --> xarm5 --- xarm6 --- xarm7
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0106-move_arc_line --> xarm5 --- xarm6 --- xarm7
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0107-move_arc_line --> xarm5 --- xarm6 --- xarm7
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0201-move_joint --> xarm5 --- xarm6 --- xarm7
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0202-move_joint --> xarm5 --- xarm6 --- xarm7
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0203-move_joint --> xarm5 --- xarm6 --- xarm7
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0204-move_joint --> xarm5 --- xarm6 --- xarm7
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0205-move_joint --> xarm5 --- xarm6 --- xarm7
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0301-move_circle --> xarm6 --- xarm7
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Import
from xarm.wrapper import XArmAPI arm = XArmAPI('COM5') arm = XArmAPI('192.168.1.113') arm = XArmAPI('192.168.1.113', enable_report=True) arm = XArmAPI('192.168.1.113', do_not_open=False) arm = XArmAPI('192.168.1.113', report='rich') arm = XArmAPI('192.168.1.113', is_radian=False) -
Connect/Disconnect
arm.connect(...) arm.disconnect() -
Move
arm.reset(...) arm.set_position(...) arm.set_servo_angle(...) arm.set_servo_angle_j(...) arm.move_gohome(...) arm.move_circle(...) arm.emergency_stop() -
Set
arm.set_servo_attach(...) arm.set_servo_detach(...) arm.set_state(...) arm.set_mode(...) arm.motion_enable(...) arm.set_pause_time(...) -
Get
arm.get_version() arm.get_state() arm.get_is_moving() arm.get_cmdnum() arm.get_err_warn_code() arm.get_position(...) arm.get_servo_angle(...) -
Setting
arm.set_tcp_offset(...)
arm.set_tcp_jerk(...)
arm.set_tcp_maxacc(...)
arm.set_joint_jerk(...)
arm.set_joint_maxacc(...)
arm.set_tcp_load(...)
arm.set_collision_sensitivity(...)
arm.set_teach_sensitivity(...)
arm.set_gravity_direction(...)
arm.clean_conf()
arm.save_conf()
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Gripper
arm.set_gripper_enable(...) arm.set_gripper_speed(...) arm.set_gripper_position(...) arm.get_gripper_position() -
GPIO
arm.get_gpio_digital(...) arm.set_gpio_digital(...) arm.get_gpio_analog(...) -
Other
arm.set_pause_time(...)
arm.shutdown_system(...)
arm.clean_error()
arm.clean_warn()
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Register/Release
arm.register_report_callback(...) arm.register_report_location_callback(...) arm.register_connect_changed_callback(callback) arm.register_state_changed_callback(callback) arm.register_mode_changed_callback(callback) arm.register_mtable_mtbrake_changed_callback(callback) arm.register_error_warn_changed_callback(callback) arm.register_cmdnum_changed_callback(callback) arm.release_report_callback(callback) arm.release_report_location_callback(callback) arm.release_connect_changed_callback(callback) arm.release_state_changed_callback(callback) arm.release_mode_changed_callback(callback) arm.release_mtable_mtbrake_changed_callback(callback) arm.release_error_warn_changed_callback(callback) arm.release_cmdnum_changed_callback(callback) -
Property
arm.connected arm.default_is_radian arm.version arm.position arm.last_used_position arm.tcp_speed_limit arm.tcp_acc_limit arm.last_used_tcp_speed arm.last_used_tcp_acc arm.angles arm.joint_speed_limit arm.joint_acc_limit arm.last_used_angles arm.last_used_joint_speed arm.last_used_joint_acc arm.tcp_offset arm.state arm.mode arm.joints_torque arm.tcp_load arm.collision_sensitivity arm.teach_sensitivity arm.motor_brake_states arm.motor_enable_states arm.has_err_warn arm.has_error arm.has_warn arm.error_code arm.warn_code arm.cmd_num arm.device_type arm.axis arm.gravity_direction