xArm-Python-SDK

Overview

xArm Python SDK

Caution

• 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.

• download

  git clone https://github.com/xArm-Developer/xArm-Python-SDK.git

• install

  python setup.py install

• other steps

  1. Go to Google Cloud Platform, create and download service account key (usually a json file), add replace the service account key file path in main.py to your own.
  2. Install gcloud and deploy
  3. Get an OpenAI API key from your OpenAI account and replace the API key file path in main.py into your own.

Doc

• API Document

• API Code Document

Update Summary

• 1.11.6

  • Correct the ambiguity that the set_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

• 1.11.5

  • Optimization pause time is too long (wait=true)
  • Add common motion api (Enabled after firmware version 1.11.100)
  • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

• 1.11.0

  • Support transparent transmission
    • 240: set_tgpio_modbus_timeout(..., is_transparent_transmission=True)
    • 241: getset_tgpio_modbus_data(..., is_transparent_transmission=True)
  • Modified the centroid unit of the ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

• 1.10.0

  • Use monotonic time
  • Fix several bugs

• 1.9.10

  • Support Lite6 Model
  • Fix several bugs

• 1.9.0

  • Support friction parameter identification interface
  • Support relative motion
  • Support xarm6-type11 firmware
  • Repair time-consuming interface (identification) failure due to heartbeat mechanism
  • Fix several bugs

• 1.8.4

  • Support the Six-axis Force Torque Sensor (not a third party)
  • Add threads to handle callbacks
  • Modify the reporting processing logic and optimize the processing of sticky packets
  • Fixed frequent switching of the pause state causing the program to hang
  • Fix the program hangs when setting the mechanical claw position in speed mode
  • Fix relative movement in unsynchronized position

• 1.8.0

  • Support for blocky code conversion and operation of xArmStudio-1.8.0
  • The Velocity interface supports the duration parameter (requires firmware 1.8.0 or higher)
  • Added identification interface (current identification and torque identification) (requires firmware 1.8.0 or higher)
  • Support linear track interface (requires firmware 1.8.0 or higher)
  • Support calling some studio APIs

• More

Example

Note: Before running the example, please modify the ip value in the robot.conf file to the robot arm you want to control.

• 0000-template

• 0001-event_register

• 0002-get_property

• 0003-api_get

• 0004-servo_attach_detach

• 1001-move_line

• 1002-move_line

• 1003-relative_move_line

• 1004-move_arc_line

• 1005-move_arc_line

• 1006-move_tool_line

• 1007-counter

• 1008-move_line_aa

• 1009-cartesian_velocity_control

• 1010-cartesian_online_trajectory_planning

• 2000-joint_velocity_control

• 2006-joint_online_trajectory_planning

• 2001-move_joint --> xarm5 --- xarm6 --- xarm7

• 2002-move_joint --> xarm5 --- xarm6 --- xarm7

• 2003-move_joint --> xarm5 --- xarm6 --- xarm7

• 2004-move_joint --> xarm5 --- xarm6 --- xarm7

• 2005-move_arc_joint --> xarm5 --- xarm6 --- xarm7

• 3001-move_circle

• 3002-record_trajectory

• 3003-playback_trajectory

• 5000-set_tgpio_modbus

• 5001-get_tgpio_digital

• 5002-get_tgpio_analog

• 5003-set_tgpio_digital

• 5004-set_gripper

• 5005-get_cgpio_digital_analog

• 5006-set_cgpio_digital_analog

• 5007-set_cgpio_input_output_function

• 5008-get_cgpio_state

• 5009-set_bio_gripper

• 6001-set_reduced_mode

• 6002-set_fense_mode

• 7001-servo_j

• 7002-servo_cartesian

• 7003-servo_cartesian_aa

• 8000-load_identify_current

• 8001-force_tech

• 8002-impedance

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_track

• blockly_to_python

• get_report_data_with_protocol

• Import

  from xarm.wrapper import XArmAPI
  arm = XArmAPI('COM5')
  arm = XArmAPI('192.168.1.113')
  arm = XArmAPI('192.168.1.113', do_not_open=False)
  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.set_servo_cartesian(...)
  arm.move_gohome(...)
  arm.move_circle(...)
  arm.emergency_stop()
  arm.set_position_aa(...)
  arm.set_servo_cartesian_aa(...)
  arm.vc_set_joint_velocity(...)
  arm.vc_set_cartesian_velocity(...)

• 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(...)
  arm.get_position_aa(...)
  arm.get_pose_offset(...)

• 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.config_tgpio_reset_when_stop(...)
  arm.config_cgpio_reset_when_stop(...)
  arm.set_report_tau_or_i(...)
  arm.set_self_collision_detection(...)
  arm.set_collision_tool_model(...)
  arm.clean_conf()
  arm.save_conf()

• Gripper

  arm.set_gripper_enable(...)
  arm.set_gripper_mode(...)
  arm.set_gripper_speed(...)
  arm.set_gripper_position(...)
  arm.get_gripper_position()
  arm.get_gripper_err_code()
  arm.clean_gripper_error()

• BIO Gripper

  arm.set_bio_gripper_enable(...)
  arm.set_bio_gripper_speed(...)
  arm.open_bio_grippe(...)
  arm.close_bio_gripper(...)
  arm.get_bio_gripper_status()
  arm.get_bio_gripper_error()
  arm.clean_bio_gripper_error()

• RobotIQ Gripper

  arm.robotiq_reset()
  arm.robotiq_set_activate(...)
  arm.robotiq_set_position(...)
  arm.robotiq_open(...)
  arm.robotiq_close(...)
  arm.robotiq_get_status(...)

• Modbus of the end tools

  arm.set_tgpio_modbus_timeout(...)
  arm.set_tgpio_modbus_baudrate(...)
  arm.get_tgpio_modbus_baudrate(...)
  arm.getset_tgpio_modbus_data(...)

• GPIO

  # Tool GPIO
  arm.get_tgpio_digital(...)
  arm.set_tgpio_digital(...)
  arm.get_tgpio_analog(...)
  arm.set_tgpio_digital_with_xyz(...)
  # Controller GPIO
  arm.get_cgpio_digital(...)
  arm.get_cgpio_analog(...)
  arm.set_cgpio_digital(...)
  arm.set_cgpio_analog(...)
  arm.set_cgpio_digital_input_function(...)
  arm.set_cgpio_digital_output_function(...)
  arm.get_cgpio_state()
  arm.set_cgpio_digital_with_xyz(...)
  arm.set_cgpio_analog_with_xyz(...)

• Linear Track

  arm.get_linear_track_pos()
  arm.get_linear_track_status()
  arm.get_linear_track_error()
  arm.get_linear_track_is_enabled()
  arm.get_linear_track_on_zero()
  arm.get_linear_track_sci()
  arm.get_linear_track_sco()
  
  arm.clean_linear_track_error(...)
  arm.set_linear_track_enable(...)
  arm.set_linear_track_speed(...)
  arm.set_linear_track_back_origin(...)
  arm.set_linear_track_pos(...)
  arm.set_linear_track_stop(...)

• FT Sensor

  arm.set_impedance(...)
  arm.set_impedance_mbk(...)
  arm.set_impedance_config(...)
  arm.config_force_control(...)
  arm.set_force_control_pid(...)
  arm.ft_sensor_set_zero(...)
  arm.ft_sensor_iden_load(...)
  arm.ft_sensor_cali_load(...)
  arm.ft_sensor_enable(...)
  arm.ft_sensor_app_set(...)
  arm.ft_sensor_app_get(...)
  arm.get_ft_sensor_data(...)
  arm.get_ft_senfor_config(...)
  arm.get_ft_sensor_error(...)

• Other

  arm.set_pause_time(...)
  arm.shutdown_system(...)
  arm.clean_error()
  arm.clean_warn()
  arm.set_counter_reset()
  arm.set_counter_increase(...)

• 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.register_temperature_changed_callback(callback)
  arm.register_count_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)
  arm.release_temperature_changed_callback(callback)
  arm.release_count_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
  arm.gpio_reset_config
  arm.count
  arm.temperatures
  arm.voltages
  arm.currents
  arm.cgpio_states