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roarm_sdk

This is python api for Waveshare roarm product

We support Python2, Python3.5 or later.

roarm_m2 api 说明 | roarm_m2 api Description

roarm_m3 api 说明 | roarm_m3 api Description

Catalogue:

roarm

echo_set(cmd)

Set echo 0 : disable echo 1 : enable echo

  • Parameters

    • cmd – : [0,1], type : int

middle_set()

Set current position to neutral calibration

move_init()

Move roarm to home position

led_ctrl(led)

Ctrl led brightness

  • Parameters

    • led – : [0,255], type : int

      0: darkest
255: brightest

breath_led(duration,steps)

Set breath_led

  • Parameters

    • duration – : breath duration, type : float

    • steps – : breath steps, type : int

torque_set(cmd)

Set the torque of the robot

  • Parameters

    • cmd – : [0,1], type : int

      0: disable torque
1: enable torque

dynamic_adaptation_set(mode,torques)

Set the dynamic adaptation of the robot

  • Parameters

    • mode – : [0,1], type : int

      0: disable dynamic adaptation
1: enable dynamic adaptation

    • torques – : [0,1000], type : list

feedback_get()

Get the feedback of the robot

  • Returns

    • list – : a list of roarm feedback, type : List[float]

joint_radian_ctrl(joint,radian,speed,acc)

Control the joint radian of the robot

  • Parameters

    • joint – : id, type : int

    • radian – : value, type : float

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

joints_radian_ctrl(radians,speed,acc)

Control the joints radian of the robot

  • Parameters

    • radians – : a list of radian, type : List[float]

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

joints_radian_get()

Get the joints radian of the robot

  • Returns

    • list – : a list of all radians, type : List[float]

joint_angle_ctrl(joint,angle,speed,acc)

Control the joint angle of the robot

  • Parameters

    • joint – : id, type : int

    • angle – : value, type : float

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

joints_angle_ctrl(angles,speed,acc)

Control the joints angle of the robot

  • Parameters

    • angles – : a list of angle, type : List[float]

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

joints_angle_get()

Get the joints angle of the robot

  • Returns

    • list – : a list of all angles, type : List[float]

drag_teach_start(filename)

Start the drag teach of the robot

  • Parameters

    • filename – : filename, type : str

drag_teach_replay(filename)

Replay the drag teach of the robot

  • Parameters

    • filename – : filename, type : str

gripper_mode_set(mode)

Set the gripper mode of the robot

  • Parameters

    • mode – : [0,1], type : int

      0: gripper
1: wrist

gripper_radian_ctrl(radian,speed,acc)

Control the gripper radian of the robot

  • Parameters

    • radian – : value, type : float

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

gripper_angle_ctrl(angle,speed,acc)

Control the gripper angle of the robot

  • Parameters

    • angle – : value, type : float

    • speed – : [1,4096], type : int

    • acc – : [1,254], type : int

gripper_radian_get()

Get the gripper radian of the robot

  • Returns

    • float – : gripper radian, type : float

gripper_angle_get()

Get the gripper angle of the robot

  • Returns

    • float – : gripper angle, type : float

pose_ctrl(pose)

Control the pose of the robot

  • Parameters

    • pose – : a list of coords value, type : List[float]

pose_get()

Get the pose of the robot

  • Returns

    • list – : a list of coords value, type : List[float]

wifi_on_boot(wifi_cmd)

Set the wifi on boot of the robot

  • Parameters

    • wifi_cmd – : [0,3], type : int

      0 : WIFI close
1 : AP model
2 : STA model
3 : AP + STA model

ap_set(ssid,password)

Set the ap of the robot

  • Parameters

    • ssid – : ssid, type : str

    • password – : password, type : str

sta_set(ssid,password)

Set the sta of the robot

  • Parameters

    • ssid – : ssid, type : str

    • password – : password, type : str

apsta_set(ap_ssid,ap_password,sta_ssid,sta_password)

Set the apsta of the robot

  • Parameters

    • ap_ssid – : ap ssid, type : str

    • ap_password – : ap password, type : str

    • sta_ssid – : sta ssid, type : str

    • sta_password – : sta password, type : str

wifi_config_creat_by_status()

Creat the wifi config by status of the robot

wifi_config_creat_by_input(ap_ssid,ap_password,sta_ssid,sta_password)

Creat the wifi config by input of the robot

wifi_stop()

Stop the wifi of the robot

disconnect()

Disconnect the roarm

Example

More demo can go to here.