xArm Python SDK

• 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.

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

• API Document

• API Code Document

• 1.5.1

  • Fix timeout of motion_enable interface

• 1.5.0

  • The new parameter of set_servo_cartisian interface is used to support servo cartisian movement of tool coordinate system
  • Support delayed trigger digital IO
  • Support position detection trigger digital IO
  • Support configure the stop state to automatically reset IO signal
  • Support motion commands based on axis angle
  • Support to calculate the offset between two points
  • Support for blocky code conversion and operation of xArmStudio1.5.0

• 1.4.0

  • Support servo cartesian interface
  • Support for blocky code conversion and operation of xArmStudio1.4.0

• More

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

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

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

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

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

• 3001-move_circle

• 3002-record_trajectory

• 3003-playback_trajectory

• 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

• 6001-set_reduced_mode

• 6002-set_fense_mode

• 7001-servo_j

• 7002-servo_cartesian

• 7003-servo_cartesian_aa

• blockly_to_python

• 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(...)

• 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.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()

• 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(...)

• 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