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

Doc

• API Document

• API Code Document

Update Summary

• 1.6.0

  • Support the xArm BIO gripper, Robotiq 2F-85 gripper and Robotiq 2F-140 gripper
  • Support position detection trigger the controller analog IO
  • Support self-collision model parameter setting
  • Support Modbus communication of end tools
  • Supports TCP timeout for setting instructions
  • Support joint motion with circular interpolation
  • Support for blocky code conversion and operation of xArmStudio1.6.0
  • Optimize logic, enhance API security, Fix several bugs

• 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

• 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

• 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

• 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(...)

• 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(...)

• 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