xArm-Python-SDK

Overview

xArm Python SDK

Caution

• Please keep away from the robot arm to avoid personal injury or equipment damage.
• Make sure to do a safety assessment before moving to prevent collisions.
• Protect the arm before unlocking the joint.

Installation

  you can run examples without installation.Only Python3 is supported.

• Install from source code
  • download

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

  • install
    • install with build

      pip install build
      python -m build
      pip install dist/xarm_python_sdk-1.16.0-py3-none-any.whl

    • install with source code

      pip install .

• Install from pypi

  pip install xarm-python-sdk

Doc

• API Document

• API Code Document

• UFACTORY ModbusTCP Manual

Update Summary

• 1.17.0

  • Change some API names

• 1.16.0

  • Added parameter to support get raw data of the Six-axis Force Torque Sensor
  • Added an interface to control xArm Gripper G2
  • Optimize the interface for controlling BIO Gripper G2
  • Extend the get_joint_states interface

• 1.15.0

  • Added the Six-axis Force Torque Sensor collision detection related interfaces
  • Added support for the new version of BIO Gripper control interface

• 1.14.7

  • Fixed the problem that single joint or direction movement fails in some cases (valid from firmware 2.5.0)
  • Added standard ModbusTcp client and Gcode client
  • GPIO control supports immediate execution
  • Support new version of vacuum gripper
  • Support the studio-2.5.0 blockly project conversion to python

• 1.13.30

  • Supports obtaining unsaved trajectory recording duration
  • Fix the abnormal path of running blockly program in some cases
  • Fix the return format of getting C23 and C38 errors
  • Supports obtaining identification status

• 1.13.19

  • Friction identification supports xarm7_mirror model
  • Fix the abnormal return value of blockly conversion robotiq related interface

• 1.13.0

  • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

• 1.12.2

  • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

• 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)

• More

API Change List

OLD API NAME	NEW API NAME
set_impedance	set_ft_sensor_admittance_parameters
set_impedance_mbk	set_ft_sensor_admittance_parameters
set_impedance_config	set_ft_sensor_admittance_parameters
set_force_control_pid	set_ft_sensor_force_parameters
config_force_control	set_ft_sensor_force_parameters
ft_sensor_set_zero	set_ft_sensor_zero
ft_sensor_iden_load	iden_ft_sensor_load_offset
ft_sensor_cali_load	set_ft_sensor_load_offset
ft_sensor_enable	set_ft_sensor_enable
ft_sensor_app_set	set_ft_sensor_mode
ft_sensor_app_get	get_ft_sensor_mode
get_linear_track_registers	get_linear_motor_registers
get_linear_track_pos	get_linear_motor_pos
get_linear_track_status	get_linear_motor_status
get_linear_track_error	get_linear_motor_error
get_linear_track_is_enabled	get_linear_motor_is_enabled
get_linear_track_on_zero	get_linear_motor_on_zero
get_linear_track_sci	get_linear_motor_sci
get_linear_track_sco	get_linear_motor_sco
clean_linear_track_error	clean_linear_motor_error
set_linear_track_enable	set_linear_motor_enable
set_linear_track_speed	set_linear_motor_speed
set_linear_track_back_origin	set_linear_motor_back_origin
set_linear_track_pos	set_linear_motor_pos
set_linear_track_stop	set_linear_motor_stop
get_suction_cup	get_vacuum_gripper
set_suction_cup	set_vacuum_gripper
shutdown_system	system_control
get_ik	get_inverse_kinematics
get_fk	get_forward_kinematics
set_sleep_time	set_pause_time
get_gpio_digital	get_tgpio_digital
set_gpio_digital	set_tgpio_digital
get_gpio_analog	get_tgpio_analog

Example

   Before running the example, please modify the IP in robot.conf to corresponding IP 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

• 3004-get_report_data

• 3005-task_feedback

• 3006-standard_modbus_tcp

• 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-admittance-control

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_motor

• 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/Gripper G2

  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()
  
  # only Gripper G2
  arm.get_gripper_g2_position()
  arm.set_gripper_g2_position(...)

• 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()
  
  # only BIO Gripper G2
  arm.get_bio_gripper_g2_position()
  arm.set_bio_gripper_g2_position(...)

• 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.get_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 Motor

  arm.get_linear_motor_pos()
  arm.get_linear_motor_status()
  arm.get_linear_motor_error()
  arm.get_linear_motor_is_enabled()
  arm.get_linear_motor_on_zero()
  arm.get_linear_motor_sci()
  arm.get_linear_motor_sco()
  
  arm.clean_linear_motor_error(...)
  arm.set_linear_motor_enable(...)
  arm.set_linear_motor_speed(...)
  arm.set_linear_motor_back_origin(...)
  arm.set_linear_motor_pos(...)
  arm.set_linear_motor_stop(...)

• FT Sensor

  arm.set_ft_sensor_enable(...)
  arm.set_ft_sensor_mode(...)
  arm.get_ft_sensor_mode(...)
  arm.set_ft_sensor_zero(...)
  arm.iden_ft_sensor_load_offset(...)
  arm.set_ft_sensor_load_offset(...)
  arm.set_ft_sensor_admittance_parameters(...)
  arm.set_ft_sensor_force_parameters(...)
  arm.get_ft_sensor_data(...)
  arm.get_ft_senfor_config(...)
  arm.get_ft_sensor_error(...)

• Other

  arm.set_pause_time(...)
  arm.system_control(...)
  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