xArm-Python-SDK API Documentation (V1.14.7): class XArmAPI in module xarm.wrapper.xarm_api
Servo angles
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: [angle1(° or rad), angle2(° or rad), ..., anglen7(° or rad)]
XArm interface implementation class instance, do not use (compatibility is not guaranteed)
Axis number, only available in socket way and enable_report is True and report_type is 'rich'
Controller gpio state
:return: states
states[0]: contorller gpio module state
states[0] == 0: normal
states[0] == 1: wrong
states[0] == 6: communication failure
states[1]: controller gpio module error code
states[1] == 0: normal
states[1] != 0: error code
states[2]: digital input functional gpio state
Note: digital-i-input functional gpio state = states[2] >> i & 0x01
states[3]: digital input configuring gpio state
Note: digital-i-input configuring gpio state = states[3] >> i & 0x01
states[4]: digital output functional gpio state
Note: digital-i-output functional gpio state = states[4] >> i & 0x01
states[5]: digital output configuring gpio state
Note: digital-i-output configuring gpio state = states[5] >> i & 0x01
states[6]: analog-0 input value
states[7]: analog-1 input value
states[8]: analog-0 output value
states[9]: analog-1 output value
states[10]: digital input functional info, [digital-0-input-functional-mode, ... digital-7-input-functional-mode]
states[11]: digital output functional info, [digital-0-output-functional-mode, ... digital-7-output-functional-mode]
Number of command caches in the controller
The sensitivity value of collision, only available in socket way and enable_report is True and report_type is 'rich'
:return: 0~5
Connection status
Control box sn
Core layer API, set only for advanced developers, please do not use
Ex:
self.core.move_line(...)
self.core.move_lineb(...)
self.core.move_joint(...)
...
Counter val
Servos electric current
:return: [servo-1-current, ..., servo-7-current]
The default unit is radians or not
Device type, only available in socket way and enable_report is True and report_type is 'rich'
Controller error code. See the Controller Error Code Documentation for details.
The external force detection value of the Six-axis Force Torque Sensor after filtering, load and offset compensation
The direct reading of the Six-axis Force Torque Sensor at the end, without any processing
The gpio reset enable config
:return: [cgpio_reset_enable, tgpio_reset_enable]
gravity direction, only available in socket way and enable_report is True and report_type is 'rich'
:return:
Contorller have an error or warning or not
:return: True/False
Controller have an error or not
Controller have an warnning or not
Is simulation robot not not
Joint acceleration limit, only available in socket way and enable_report is True and report_type is 'rich'
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: [min_joint_acc(°/s^2 or rad/s^2), max_joint_acc(°/s^2 or rad/s^2)]
Joint jerk
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: jerk (°/s^3 or rad/s^3)
Joint speed limit, only available in socket way and enable_report is True and report_type is 'rich'
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: [min_joint_speed(°/s or rad/s), max_joint_speed(°/s or rad/s)]
Joints torque, only available in socket way and enable_report is True and report_type is 'rich'
:return: [joint-1, ....]
The last used servo angles, default value of parameter angle of interface set_servo_angle
Note:
1. If self.default_is_radian is True, the returned value is in radians
2. self.set_servo_angle(servo_id=1, angle=75) < == > self.set_servo_angle(angle=[75] + self.last_used_angles[1:])
3. self.set_servo_angle(servo_id=5, angle=30) < == > self.set_servo_angle(angle=self.last_used_angles[:4] + [30] + self.last_used_angles[5:]):return: [angle1(° or rad), angle2(° or rad), ..., angle7(° or rad)]
The last used joint acceleration, default value of parameter mvacc of interface set_servo_angle
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: acceleration (°/s^2 or rad/s^2)
The last used joint speed, default value of parameter speed of interface set_servo_angle
Note:
1. If self.default_is_radian is True, the returned value is in radians:return: speed (°/s or rad/s)
The last used cartesion position, default value of parameter x/y/z/roll/pitch/yaw of interface set_position
Note:
1. If self.default_is_radian is True, the returned value (only roll/pitch/yaw) is in radians
2. self.set_position(x=300) < == > self.set_position(x=300, *last_used_position[1:])
2. self.set_position(roll=-180) < == > self.set_position(x=self.last_used_position[:3], roll=-180, *self.last_used_position[4:]):return: [x(mm), y(mm), z(mm), roll(° or rad), pitch(° or rad), yaw(° or rad)]
The last used cartesion acceleration, default value of parameter mvacc of interface set_position/move_circle
:return: acceleration (mm/s^2)
The last used cartesion speed, default value of parameter speed of interface set_position/move_circle
:return: speed (mm/s)
Master id, only available in socket way and enable_report is True and report_type is 'rich'
xArm mode, only available in socket way and enable_report is True
:return:
0: position control mode
1: servo motion mode
2: joint teaching mode
3: cartesian teaching mode (invalid)
4: joint velocity control mode
5: cartesian velocity control mode
6: joint online trajectory planning mode
7: cartesian online trajectory planning mode
Motor brake state list, only available in socket way and enable_report is True and report_type is 'rich'
Note:
For a robot with a number of axes n, only the first n states are valid, and the latter are reserved.:return: [motor-1-brake-state, ..., motor-7-brake-state, reserved]
motor-{i}-brake-state:
0: enable
1: disable
Motor enable state list, only available in socket way and enable_report is True and report_type is 'rich'
Note:
For a robot with a number of axes n, only the first n states are valid, and the latter are reserved.:return: [motor-1-enable-state, ..., motor-7-enable-state, reserved]
motor-{i}-enable-state:
0: disable
1: enable
Cartesion position
Note:
1. If self.default_is_radian is True, the returned value (only roll/pitch/yaw) is in radiansreturn: [x(mm), y(mm), z(mm), roll(° or rad), pitch(° or rad), yaw(° or rad)]
The pose represented by the axis angle pose
Note:
1. If self.default_is_radian is True, the returned value (only roll/pitch/yaw) is in radians:return: [x(mm), y(mm), z(mm), rx(° or rad), ry(° or rad), rz(° or rad)]
The real time speed of joint motion, only available if version > 1.2.11
:return: [joint-1-speed(°/s or rad/s), ...., joint-7-speed(°/s or rad/s)]
The real time speed of tcp motion, only available if version > 1.2.11
:return: real time speed (mm/s)
The last state value obtained
Note:
1. Successfully call the robotiq related interface with wait parameter (when the parameter wait = True is set) will update this value
2. Successfully calling interface robotiq_get_status will partially or completely update this value:return status dict
{
'gOBJ': 0, # Object detection status, is a built-in feature that provides information on possible object pick-up
'gSTA': 0, # Gripper status, returns the current status & motion of the Gripper fingers
'gGTO': 0, # Action status, echo of the rGTO bit(go to bit)
'gACT': 0, # Activation status, echo of the rACT bit(activation bit)
'kFLT': 0, # Echo of the requested position for the Gripper
'gFLT': 0, # Fault status
'gPR': 0, # Echo of the requested position for the Gripper
'gPO': 0, # Actual position of the Gripper obtained via the encoders
'gCU': 0, # The current is read instantaneously from the motor drive
}
Note: -1 means never updated
Self collision params
:return: params
params[0]: self collision detection or not
params[1]: self collision tool type
params[2]: self collision model params
Servos status and error_code
:return: [
[servo-1-status, servo-1-code],
...,
[servo-7-status, servo-7-code],
[tool-gpio-status, tool-gpio-code]
]
Slave id, only available in socket way and enable_report is True and report_type is 'rich'
xArm sn
xArm state
:return:
1: in motion
2: sleeping
3: suspended
4: stopping
Tcp acceleration limit, only available in socket way and enable_report is True and report_type is 'rich'
:return: [min_tcp_acc(mm/s^2), max_tcp_acc(mm/s^2)]
Tcp jerk
:return: jerk (mm/s^3)
xArm tcp load, only available in socket way and enable_report is True and report_type is 'rich'
:return: [weight, center of gravity]
such as: [weight(kg), [x(mm), y(mm), z(mm)]]
Cartesion position offset, only available in socket way and enable_report is True
Note:
1. If self.default_is_radian is True, the returned value(roll_offset/pitch_offset/yaw_offset) is in radians:return: [x_offset(mm), y_offset(mm), z_offset(mm), roll_offset(° or rad), pitch_offset(° or rad), yaw_offset(° or rad)]
Tcp speed limit, only available in socket way and enable_report is True and report_type is 'rich'
:return: [min_tcp_speed(mm/s), max_tcp_speed(mm/s)]
The sensitivity value of drag and teach, only available in socket way and enable_report is True and report_type is 'rich'
:return: 1~5
Motor temperature, only available if version > 1.2.11
:return: [motor-1-temperature, ..., motor-7-temperature]
xArm version
Frimware version number
:return: (major_version_number, minor_version_number, revision_version_number)
Servos voltage
:return: [servo-1-voltage, ..., servo-7-voltage]
Controller warn code. See the Controller Warn Code Documentation for details.
Base coordinate offset, only available if version > 1.2.11
Note:
1. If self.default_is_radian is True, the returned value(roll_offset/pitch_offset/yaw_offset) is in radians:return: [x_offset(mm), y_offset(mm), z_offset(mm), roll_offset(° or rad), pitch_offset(° or rad), yaw_offset(° or rad)]
The API wrapper of xArm
Note: Orientation of attitude angle
roll: rotate around the X axis
pitch: rotate around the Y axis
yaw: rotate around the Z axis:param port: ip-address(such as '192.168.1.185')
Note: this parameter is required if parameter do_not_open is False
:param is_radian: set the default unit is radians or not, default is False
Note: (aim of design)
1. Default value for unified interface parameters
2: Unification of the external unit system
3. For compatibility with previous interfaces
Note: the conversion of degree (°) and radians (rad)
* 1 rad == 57.29577951308232 °
* 1 ° == 0.017453292519943295 rad
* 1 rad/s == 57.29577951308232 °/s
* 1 °/s == 0.017453292519943295 rad/s
* 1 rad/s^2 == 57.29577951308232 °/s^2
* 1 °/s^2 == 0.017453292519943295 rad/s^2
* 1 rad/s^3 == 57.29577951308232 °/s^3
* 1 °/s^3 == 0.017453292519943295 rad/s^3
Note: This parameter determines the value of the property self.default_is_radian
Note: This parameter determines the default value of the interface with the is_radian/input_is_radian/return_is_radian parameter
The list of affected interfaces is as follows:
1. method: get_position
2. method: set_position
3. method: get_servo_angle
4. method: set_servo_angle
5. method: set_servo_angle_j
6. method: move_gohome
7. method: reset
8. method: set_tcp_offset
9. method: set_joint_jerk
10. method: set_joint_maxacc
11. method: get_inverse_kinematics
12. method: get_forward_kinematics
13. method: is_tcp_limit
14. method: is_joint_limit
15. method: get_params
16: method: move_arc_lines
17: method: move_circle
18: method: set_servo_cartesian
Note: This parameter determines the default return type for some interfaces (such as the position, velocity, and acceleration associated with the return angle arc).
The affected attributes are as follows:
1. property: position
2. property: last_used_position
3. property: angles
4. property: last_used_angles
5. property: last_used_joint_speed
6. property: last_used_joint_acc
7. property: tcp_offset
:param do_not_open: do not open, default is False, if true, you need to manually call the connect interface.
:param kwargs: keyword parameters, generally do not need to set
axis: number of axes, required only when using a serial port connection, default is 7
baudrate: serial baudrate, invalid, reserved.
timeout: serial timeout, invalid, reserved.
filters: serial port filters, invalid, reserved.
check_tcp_limit: check the tcp param value out of limit or not, default is False
Note: only check the param roll/pitch/yaw of the interfaceset_position/move_arc_lines
check_joint_limit: check the joint param value out of limit or not, default is True
Note: only check the param angle of the interfaceset_servo_angleand the param angles of the interfaceset_servo_angle_j
check_cmdnum_limit: check the cmdnum out of limit or not, default is True
max_cmdnum: max cmdnum, default is 512
Note: only available in the paramcheck_cmdnum_limitis True
check_is_ready: check if the arm is ready to move or not, default is True
Note: only available if firmware_version < 1.5.20
Four-point method to calibrate tool coordinate system position offset
Note:
1. only available if firmware_version >= 1.6.9:param four_points: a list of four teaching coordinate positions [x, y, z, roll, pitch, yaw]
:param is_radian: the roll/pitch/yaw value of the each point in radians or not, default is self.default_is_radian
:return: tuple((code, xyz_offset)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
xyz_offset: calculated xyz(mm) TCP offset, [x, y, z]
def calibrate_tcp_orientation_offset(self, rpy_be, rpy_bt, input_is_radian=None, return_is_radian=None):
An additional teaching point to calibrate the tool coordinate system attitude offset
Note:
1. only available if firmware_version >= 1.6.9:param rpy_be: the rpy value of the teaching point without TCP offset [roll, pitch, yaw]
:param rpy_bt: the rpy value of the teaching point with TCP offset [roll, pitch, yaw]
:param input_is_radian: the roll/pitch/yaw value of rpy_be and rpy_bt in radians or not, default is self.default_is_radian
:param return_is_radian: the roll/pitch/yaw value of result in radians or not, default is self.default_is_radian
:return: tuple((code, rpy_offset)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
rpy_offset: calculated rpy TCP offset, [roll, pitch, yaw]
An additional teaching point determines the position offset of the user coordinate system.
Note:
1. only available if firmware_version >= 1.6.9:param rpy_ub: the confirmed offset of the base coordinate system in the user coordinate system [roll, pitch, yaw], which is the result of calibrate_user_orientation_offset()
:param pos_b_uorg: the position of the teaching point in the base coordinate system [x, y, z], if the arm cannot reach the target position, the user can manually input the position of the target in the base coordinate.
:param is_radian: the roll/pitch/yaw value of rpy_ub in radians or not, default is self.default_is_radian
:return: tuple((code, xyz_offset)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
xyz_offset: calculated xyz(mm) user offset, [x, y, z]
def calibrate_user_orientation_offset(self, three_points, mode=0, trust_ind=0, input_is_radian=None, return_is_radian=None):
Three-point method teaches user coordinate system posture offset
Note:
1. only available if firmware_version >= 1.6.9Note:
First determine a point in the working space, move along the desired coordinate system x+ to determine the second point,
and then move along the desired coordinate system y+ to determine the third point.
Note that the x+ direction is as accurate as possible.
If the y+ direction is not completely perpendicular to x+, it will be corrected in the calculation process.:param three_points: a list of teaching TCP coordinate positions [x, y, z, roll, pitch, yaw]
:param input_is_radian: the roll/pitch/yaw value of the each point in radians or not, default is self.default_is_radian
:param return_is_radian: the roll/pitch/yaw value of result in radians or not, default is self.default_is_radian
:return: tuple((code, rpy_offset)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
rpy_offset: calculated rpy user offset, [roll, pitch, yaw]
check verification
:return: tuple((code, status)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status:
0: verified
other: not verified
Clean the error code of the bio gripper
:return: code
code: See the API Code Documentation for details.
Clean current config and restore system default settings
Note:
1. This interface will clear the current settings and restore to the original settings (system default settings):return: code
code: See the API Code Documentation for details.
Clean the error, need to be manually enabled motion(arm.motion_enable(True)) and set state(arm.set_state(state=0))after clean error
:return: code
code: See the API Code Documentation for details.
Clean the gripper error
:return: code
code: See the API Code Documentation for details.
Clean the linear track error
Note:
1. only available if firmware_version >= 1.8.0:return: code
code: See the API Code Documentation for details.
Clean the warn
:return: code
code: See the API Code Documentation for details.
Close the bio gripper
:param speed: speed value, default is 0 (not set the speed)
:param wait: whether to wait for the bio gripper motion complete, default is True
:param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True:return: code
code: See the API Code Documentation for details.
Close the gripper of Lite6 series robotic arms
Note:
1. only available if firmware_version >= 1.10.0
2. this API can only be used on Lite6 series robotic arms:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
:return: code
code: See the API Code Documentation for details.
Config the Controller GPIO reset the digital output when the robot is in stop state
:param on_off: True/False
:return: code
code: See the API Code Documentation for details.
Set force control parameters through the Six-axis Force Torque Sensor.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param coord: task frame. 0: base frame. 1: tool frame.
:param c_axis: a 6d vector of 0s and 1s. 1 means that robot will be compliant in the corresponding axis of the task frame.
:param f_ref: the forces/torques the robot will apply to its environment. The robot adjusts its position along/about compliant axis in order to achieve the specified force/torque.
:param limits: for compliant axes, these values are the maximum allowed tcp speed along/about the axis.
:return: code
code: See the API Code Documentation for details.
Config the Tool GPIO reset the digital output when the robot is in stop state
:param on_off: True/False
:return: code
code: See the API Code Documentation for details.
Connect to xArm
:param port: port name or the ip address, default is the value when initializing an instance
:param baudrate: baudrate, only available in serial way, default is the value when initializing an instance
:param timeout: timeout, only available in serial way, default is the value when initializing an instance
:param axis: number of axes, required only when using a serial port connection, default is 7
Delete blockly app
:param name: blockly app name
:return: code
code: See the API Code Documentation for details.
Delete trajectory
:param name: trajectory name
:return: code
code: See the API Code Documentation for details.
Disconnect
Emergency stop (set_state(4) -> motion_enable(True) -> set_state(0))
Note:
1. This interface does not automatically clear the error. If there is an error, you need to handle it according to the error code.
Get force mode
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):return: tuple((code, app_code))
code: See the API Code Documentation for details.
app_code:
0: non-force mode
1: impedance control mode
2: force control mode
Set robot to be controlled in force mode. (Through the Six-axis Force Torque Sensor)
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param app_code: force mode.
0: non-force mode
1: impendance control
2: force control
:return: code
code: See the API Code Documentation for details.
Write the load offset parameters identified by the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
3. starting from SDK v1.11.0, the centroid unit is millimeters (originally meters):param iden_result_list: [mass(kg), x_centroid(mm), y_centroid(mm), z_centroid(mm), Fx_offset, Fy_offset, Fz_offset, Tx_offset, Ty_offset, Tz_ffset]
:param association_setting_tcp_load: whether to convert the parameter to the corresponding tcp load and set, default is False
Note: If True, the value of tcp load will be modified
:return: code
code: See the API Code Documentation for details.
Used for enabling and disabling the use of the Six-axis Force Torque Sensor measurements in the controller.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param on_off: enable or disable F/T data sampling.
:return: code
code: See the API Code Documentation for details.
Identification the tcp load with the the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
3. starting from SDK v1.11.0, the centroid unit is millimeters (originally meters):return: tuple((code, load)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
load: [mass(kg), x_centroid(mm), y_centroid(mm), z_centroid(mm), Fx_offset, Fy_offset, Fz_offset, Tx_offset, Ty_offset, Tz_ffset]
Set the current state to the zero point of the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):return: code
code: See the API Code Documentation for details.
Obtain whether to enable approximate solutions to avoid certain singularities
Note:
1. only available if firmware_version >= 1.9.0:return: code
code: See the API Code Documentation for details.
Get base board version
:param board_id: int
:return: : (code, version)
code: See the API Code Documentation for details.
Get the error code of the bio gripper
:return: tuple((code, error_code))
code: See the API Code Documentation for details.
error_code: See the Bio Gripper Error Code Documentation for details.
Get the status of the bio gripper
:return: tuple((code, status))
code: See the API Code Documentation for details.
status: status
status & 0x03 == 0: stop
status & 0x03 == 1: motion
status & 0x03 == 2: catch
status & 0x03 == 3: error
(status >> 2) & 0x03 == 0: not enabled
(status >> 2) & 0x03 == 1: enabling
(status >> 2) & 0x03 == 2: enabled
Get joint angle limit error (C23) info
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [(servo_id, angle), ...]
Get joint speed limit error (C24) info
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [servo_id, speed]
Get collision error (C31) info
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [servo_id, theoratival tau, actual tau]
Get payload error (C37) info
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [servo_id, angle]
Get joint hard angle limit error (C38) info
Note:
Only available if firmware_version >= 2.4.0:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [(servo_id, angle), ...]
Get linear speed limit error (C60) info
Note:
1. Only available if firmware_version >= 2.3.0
2. Only available in mode 1:return: tuple((code, err_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_info: [max_linear_speed, curr_linear_speed]
Get the analog value of the specified Controller GPIO
:param ionum: 0 or 1 or None(both 0 and 1), default is None
:return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the digital value of the specified Controller GPIO
:param ionum: 0
7(CI0CI7), 815(DI0DI7) or None(both 0~15), default is None
:return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the state of the Controller GPIO
:return: code, states
code: See the API Code Documentation for details.
states: [...]
states[0]: contorller gpio module state
states[0] == 0: normal
states[0] == 1: wrong
states[0] == 6: communication failure
states[1]: controller gpio module error code
states[1] == 0: normal
states[1] != 0: error code
states[2]: digital input functional gpio state
Note: digital-i-input functional gpio state = states[2] >> i & 0x0001
states[3]: digital input configuring gpio state
Note: digital-i-input configuring gpio state = states[3] >> i & 0x0001
states[4]: digital output functional gpio state
Note: digital-i-output functional gpio state = states[4] >> i & 0x0001
states[5]: digital output configuring gpio state
Note: digital-i-output configuring gpio state = states[5] >> i & 0x0001
states[6]: analog-0 input value
states[7]: analog-1 input value
states[8]: analog-0 output value
states[9]: analog-1 output value
states[10]: digital input functional info, [digital-0-input-functional-mode, ... digital-15-input-functional-mode]
states[11]: digital output functional info, [digital-0-output-functional-mode, ... digital-15-output-functional-mode]
Get the checkset baud value
:param type_: checkset type
1: xarm gripper
2: bio gripper
3: robotiq gripper
4: linear track
:return: tuple((code, baud))
code: See the API Code Documentation for details.
baud: the checkset baud value
Get cmd mat history num
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, num)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
num: cmd mat history num
Get the cmd count in cache
:return: tuple((code, cmd_num)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the DH parameters
Note:
1. only available if firmware_version >= 2.0.0:return: tuple((code, dh_params)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
dh_params: DH parameters
dh_params[0:4]: DH parameters of Joint-1
dh_params[4:8]: DH parameters of Joint-2
...
dh_params[24:28]: DH parameters of Joint-7
Get the controller error and warn code
:param show: show the detail info if True
:param lang: show language, en/cn, degault is en, only available if show is True
:return: tuple((code, [error_code, warn_code])), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
error_code: See the Controller Error Code Documentation for details.
warn_code: See the Controller Error Code Documentation for details.
Get fdb mat history num
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, num)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
num: fdb mat history num
Get forward kinematics
:param angles: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm
:param input_is_radian: the param angles value is in radians or not, default is self.default_is_radian
:param return_is_radian: the returned value is in radians or not, default is self.default_is_radian
:return: tuple((code, pose)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
pose: [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)] or []
Note: the roll/pitch/yaw value is radians if return_is_radian is True, else °
Get the config of the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported)
:return: tuple((code, config))
code: See the API Code Documentation for details.
config: [...], the config of the Six-axis Force Torque Sensor, only when code is 0, the returned result is correct.
[0] ft_app_status: force mode
0: non-force mode
1: impendance control
2: force control
[1] ft_is_started: ft sensor is enable or not
[2] ft_type: ft sensor type
[3] ft_id: ft sensor id
[4] ft_freq: ft sensor frequency
[5] ft_mass: load mass
[6] ft_dir_bias: reversed
[7] ft_centroid: [x_centroid, y_centroid, z_centroid]
[8] ft_zero: [Fx_offset, Fy_offset, Fz_offset, Tx_offset, Ty_offset, Tz_ffset]
[9] imp_coord: task frame of impendance control mode.
0: base frame.
1: tool frame.
[10] imp_c_axis: a 6d vector of 0s and 1s. 1 means that robot will be impedance in the corresponding axis of the task frame.
[11] M: mass. (kg)
[12] K: stiffness coefficient.
[13] B: damping coefficient. invalid. Note: the value is set to 2sqrt(MK) in controller.
[14] f_coord: task frame of force control mode.
0: base frame.
1: tool frame.
[15] f_c_axis: a 6d vector of 0s and 1s. 1 means that robot will be impedance in the corresponding axis of the task frame.
[16] f_ref: the forces/torques the robot will apply to its environment. The robot adjusts its position along/about compliant axis in order to achieve the specified force/torque.
[17] f_limits: reversed.
[18] kp: proportional gain
[19] ki: integral gain.
[20] kd: differential gain.
[21] xe_limit: 6d vector. for compliant axes, these values are the maximum allowed tcp speed along/about the axis. mm/s
Get the data of the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):return: tuple((code, exe_ft))
code: See the API Code Documentation for details.
ft_data: only when code is 0, the returned result is correct.
Note: The external force detection value of the Six-axis Force Torque Sensor after filtering, load and offset compensation
Get the error code of the Six-axis Force Torque Sensor
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):return: tuple((code, error))
code: See the API Code Documentation for details.
error: See the Six-axis Force Torque Sensor Error Code Documentation for details.
Get the gripper error code
:return: tuple((code, err_code)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
err_code: See the Gripper Error Code Documentation for details.
Get the gripper position
:return: tuple((code, pos)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get gripper version, only for debug
:return: (code, version)
code: See the API Code Documentation for details.
Get harmonic type, only for debug
:return: (code, type)
code: See the API Code Documentation for details.
Get harmonic types, only for debug
:return: (code, types)
code: See the API Code Documentation for details.
Get iden status
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, status)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status: 1 means in identifying, 0 means not in identifying
Get the initial point from studio
:return: tuple((code, point)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
point: initial point, [J1, J2, ..., J7]
Get inverse kinematics
:param pose: [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
Note: the roll/pitch/yaw unit is radian if input_is_radian is True, else °
:param input_is_radian: the param pose value(only roll/pitch/yaw) is in radians or not, default is self.default_is_radian
:param return_is_radian: the returned value is in radians or not, default is self.default_is_radian
:return: tuple((code, angles)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
angles: [angle-1(rad or °), angle-2, ..., angle-(Number of axes)] or []
Note: the returned angle value is radians if return_is_radian is True, else °
Check xArm is moving or not
:return: True/False
Get the joint states
Note:
1. only available if firmware_version >= 1.9.0:param is_radian: the returned value(position and velocity) is in radians or not, default is self.default_is_radian
:return: tuple((code, [position, velocity, effort])), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
position: the angles of joints, like [angle-1, ..., angle-7]
velocity: the velocities of joints, like [velo-1, ..., velo-7]
effort: the efforts of joints, like [effort-1, ..., effort-7]
Get joints torque
:return: tuple((code, joints_torque))
code: See the API Code Documentation for details.
joints_torque: joints torque
Get linear speed limit factor
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, factor)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
factor: linear speed limit factor
Get the error code of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, error)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
error: See the Linear Motor Error Code Documentation for details.
Get the linear track is enabled or not
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, status)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status:
0: linear track is not enabled
1: linear track is enabled
Get the linear track is on zero positon or not
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, status)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status:
0: linear track is not on zero
1: linear track is on zero
Get the pos of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, position)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
position: position
Get the status of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, status)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status: status, like
{
'pos': 0,
'status': 0,
'error': 0,
'is_enabled': 0,
'on_zero': 0,
'sci': 1,
'sco': [0, 0],
}
Get the sci1 value of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, sci1)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the sco value of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, sco)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
sco: [sco0, sco1]
Get the status of the linear track
Note:
1. only available if firmware_version >= 1.8.0:return: tuple((code, status)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status: status
status & 0x00: motion finish
status & 0x01: in motion
status & 0x02: has stop
Get the mount degrees from studio
:return: tuple((code, degrees)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
degrees: mount degrees, [tilt angle, rotate angle]
Get poe status
Note:
Only available if firmware_version >= 2.3.0:return: tuple((code, status)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
status: 1 means poe is valid, 0 means poe is invalid
Calculate the pose offset of two given points
:param pose1: [x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]
:param pose2: [x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]
:param orient_type_in: input attitude notation, 0 is RPY(roll/pitch/yaw) (default), 1 is axis angle(rx/ry/rz)
:param orient_type_out: notation of output attitude, 0 is RPY (default), 1 is axis angle
:param is_radian: the roll/rx/pitch/ry/yaw/rz of pose1/pose2/return_pose is radian or not
:return: tuple((code, pose)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
pose: [x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]
Get the cartesian position
Note:
1. If the value(roll/pitch/yaw) you want to return is an radian unit, please set the parameter is_radian to True
ex: code, pos = arm.get_position(is_radian=True):param is_radian: the returned value (only roll/pitch/yaw) is in radians or not, default is self.default_is_radian
:return: tuple((code, [x, y, z, roll, pitch, yaw])), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the pose represented by the axis angle pose
:param is_radian: the returned value (only rx/ry/rz) is in radians or not, default is self.default_is_radian
:return: tuple((code, [x, y, z, rx, ry, rz])), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get record seconds
Note:
1. Only available if firmware_version >= 2.4.0
2. Only valid during recording or after recording but before saving:return: tuple((code, seconds)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
seconds: The actual duration of the recorded track
Get reduced mode
Note:
1. This interface relies on Firmware 1.2.0 or above:return: tuple((code, mode))
code: See the API Code Documentation for details.
mode: 0 or 1, 1 means that the reduced mode is turned on. 0 means that the reduced mode is not turned on
Get states of the reduced mode
Note:
1. This interface relies on Firmware 1.2.0 or above:param is_radian: the max_joint_speed of the states is in radians or not, default is self.default_is_radian
:return: tuple((code, states))
code: See the API Code Documentation for details.
states: [....]
if version > 1.2.11:
states: [
reduced_mode_is_on,
[reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],
reduced_max_tcp_speed,
reduced_max_joint_speed,
joint_ranges([joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]),
safety_boundary_is_on,
collision_rebound_is_on,
]
if version <= 1.2.11:
states: [
reduced_mode_is_on,
[reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],
reduced_max_tcp_speed,
reduced_max_joint_speed,
]
Get the reported torque or electric current
:return: tuple((code, tau_or_i))
code: See the API Code Documentation for details.
tau_or_i:
0: torque
1: electric current
Get the xArm sn
:return: tuple((code, sn)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get safe level
:return: tuple((code, safe_level))
code: See the API Code Documentation for details.
safe_level: safe level
Get the servo angle
Note:
1. If the value you want to return is an radian unit, please set the parameter is_radian to True
ex: code, angles = arm.get_servo_angle(is_radian=True)
2. If you want to return only the angle of a single joint, please set the parameter servo_id
ex: code, angle = arm.get_servo_angle(servo_id=2)
3. This interface is only used in the base coordinate system.:param servo_id: 1-(Number of axes), None(8), default is None
:param is_radian: the returned value is in radians or not, default is self.default_is_radian
:return: tuple((code, angle list if servo_id is None or 8 else angle)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the servo debug msg, used only for debugging
:param show: show the detail info if True
:param lang: language, en/cn, default is en
:return: tuple((code, servo_info_list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get servo version, only for debug
:param servo_id: servo id(1~7)
:return: (code, version)
code: See the API Code Documentation for details.
Get state
:return: tuple((code, state)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
state:
1: in motion
2: sleeping
3: suspended
4: stopping
Get the analog value of the specified Tool GPIO
:param ionum: 0 or 1 or None(both 0 and 1), default is None
:return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the digital value of the specified Tool GPIO
:param ionum: 0 or 1 or None(both 0 and 1), default is None
:return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get the modbus baudrate of the tool gpio
:return: tuple((code, baudrate)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
baudrate: the modbus baudrate of the tool gpio
Get tgpio modbus timeout
Note:
Only available if firmware_version >= 2.3.0:param is_transparent_transmission: is transparent transmission or not
:return: tuple((code, timeout)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
timeout: timeout of the tgpio modbus, milliseconds
Get the digital value of the specified Tool GPIO output
:param ionum: 0 or 1 or 2 or 3 or 4 or None(both 0 and 1 and 2 and 3 and 4), default is None
:return: tuple((code, value or value list)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Get tool gpio version, only for debug
:return: (code, version)
code: See the API Code Documentation for details.
Obtain the joint and velocity values of joint overspeed during trajectory recording
:param rate: speed rate, It can only be 1/2/4:return: tuple((code, speed_info)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
speed_info: [result_code, servo_id, servo_speed]
result_code: 0：Pass, -1: Fail, >0: abnormal(1:Trajectory not loaded or incorrect status;2:The input magnification is incorrect)
servo_id: Effective only when result_code is -1
servo_speed: Effective only when result_code is -1
get the trajectories
Note:
1. This interface relies on xArmStudio 1.2.0 or above
2. This interface relies on Firmware 1.2.0 or above:return: tuple((code, trajectories))
code: See the API Code Documentation for details.
trajectories: [{
'name': name, # The name of the trajectory
'duration': duration, # The duration of the trajectory (seconds)
}]
Get trajectory read/write status
:return: (code, status)
code: See the API Code Documentation for details.
status:
0: no read/write
1: loading
2: load success
3: load failed
4: saving
5: save success
6: save failed
Get vacuum gripper state
:param hardware_version: hardware version
1: Plug-in Connection, default
2: Contact Connection
:return: tuple((code, state)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
state: vacuum gripper state
0: vacuum gripper is off
1: vacuum gripper is on
Get the xArm firmware version
:return: tuple((code, version)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
def getset_tgpio_modbus_data(self, datas, min_res_len=0, host_id=9, is_transparent_transmission=False, use_503_port=False, **kwargs):
Send the modbus data to the tool gpio
:param datas: data_list
:param min_res_len: the minimum length of modbus response data. Used to check the data length, if not specified, no check
:param host_id: host_id, default is 9 (TGPIO_HOST_ID)
9: END RS485
10: CONTROLLER RS485
:param is_transparent_transmission: whether to choose transparent transmission, default is False
Note: only available if firmware_version >= 1.11.0
:param use_503_port: whether to use port 503 for communication, default is False
Note: if it is True, it will connect to 503 port for communication when it is used for the first time, which is generally only useful for transparent transmission.
Note: only available if firmware_version >= 1.11.0:return: tuple((code, modbus_response))
code: See the API Code Documentation for details.
modbus_response: modbus response data
Identification the friction
Note:
1. only available if firmware_version >= 1.9.0:param sn: sn value
:return: tuple((code, result)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
result:
0: success
-1: failure
Identification the tcp load with current
Note:
1. only available if firmware_version >= 1.8.0:param estimated_mass: estimated mass
Note: this parameter is only available on the lite6 model manipulator, and this parameter must be specified for the lite6 model manipulator
:return: tuple((code, load)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
load: [mass, x_centroid, y_centroid, z_centroid]
Check the joint angle is in limit
:param joint: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm
:param is_radian: angle value is radians or not, default is self.default_is_radian
:return: tuple((code, limit)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
limit: True/False/None, limit or not, or failed
Check the tcp pose is in limit
:param pose: [x, y, z, roll, pitch, yaw]
:param is_radian: roll/pitch/yaw value is radians or not, default is self.default_is_radian
:return: tuple((code, limit)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
limit: True/False/None, limit or not, or failed
Load the trajectory
Note:
1. This interface relies on Firmware 1.2.0 or above:param filename: The name of the trajectory to load
:param wait: Whether to wait for loading, default is True
:param timeout: Timeout waiting for loading to complete
:return: code
code: See the API Code Documentation for details.
(Standard Modbus TCP) Mask Write Holding Register (0x16)
:param addr: register address
:param and_mask: mask to be AND with
:param or_mask: mask to be OR with
:return: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Motion enable
:param enable:True/False
:param servo_id: 1-(Number of axes), None(8)
:return: code
code: See the API Code Documentation for details.
def move_arc_lines(self, paths, is_radian=None, times=1, first_pause_time=0.1, repeat_pause_time=0, automatic_calibration=True, speed=None, mvacc=None, mvtime=None, wait=False):
Continuous linear motion with interpolation.
Note:
1. If an error occurs, it will return early.
2. If the emergency_stop interface is called actively, it will return early.
3. The last_used_position/last_used_tcp_speed/last_used_tcp_acc will be modified.
4. The last_used_angles/last_used_joint_speed/last_used_joint_acc will not be modified.:param paths: cartesian path list
1. Specify arc radius: [[x, y, z, roll, pitch, yaw, radius], ....]
2. Do not specify arc radius (radius=0): [[x, y, z, roll, pitch, yaw], ....]
3. If you want to plan the continuous motion,set radius>0.:param is_radian: roll/pitch/yaw of paths are in radians or not, default is self.default_is_radian
:param times: repeat times, 0 is infinite loop, default is 1
:param first_pause_time: sleep time at first, purpose is to cache the commands and plan continuous motion, default is 0.1s
:param repeat_pause_time: interval between repeated movements, unit: (s)second
:param automatic_calibration: automatic calibration or not, default is True
:param speed: move speed (mm/s, rad/s), default is self.last_used_tcp_speed
:param mvacc: move acceleration (mm/s^2, rad/s^2), default is self.last_used_tcp_acc
:param mvtime: 0, reserved
:param wait: whether to wait for the arm to complete, default is False
def move_circle(self, pose1, pose2, percent, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False, timeout=None, is_tool_coord=False, is_axis_angle=False, **kwargs):
The motion calculates the trajectory of the space circle according to the three-point coordinates.
The three-point coordinates are (current starting point, pose1, pose2).:param pose1: cartesian position, [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
:param pose2: cartesian position, [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
:param percent: the percentage of arc length and circumference of the movement
:param speed: move speed (mm/s, rad/s), default is self.last_used_tcp_speed
:param mvacc: move acceleration (mm/s^2, rad/s^2), default is self.last_used_tcp_acc
:param mvtime: 0, reserved
:param is_radian: roll/pitch/yaw value is radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:param is_tool_coord: is tool coord or not, default is False, only available if firmware_version >= 1.11.100
:param is_axis_angle: is axis angle or not, default is False, only available if firmware_version >= 1.11.100
:param kwargs: reserved
:return: code
code: See the API Code Documentation for details.
code < 0: the last_used_tcp_speed/last_used_tcp_acc will not be modified
code >= 0: the last_used_tcp_speed/last_used_tcp_acc will be modified
def move_gohome(self, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False, timeout=None, **kwargs):
Move to go home (Back to zero), the API will modify self.last_used_position and self.last_used_angles value
Warnning: without limit detection
Note:
1. The API will change self.last_used_position value into [201.5, 0, 140.5, -180, 0, 0]
2. The API will change self.last_used_angles value into [0, 0, 0, 0, 0, 0, 0]
3. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.
ex: code = arm.move_gohome(wait=True)
4. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc:param speed: gohome speed (unit: rad/s if is_radian is True else °/s), default is 50 °/s
:param mvacc: gohome acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is 5000 °/s^2
:param mvtime: reserved
:param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:return: code
code: See the API Code Documentation for details.
Open the bio gripper
:param speed: speed value, default is 0 (not set the speed)
:param wait: whether to wait for the bio gripper motion complete, default is True
:param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True:return: code
code: See the API Code Documentation for details.
Open the gripper of Lite6 series robotic arms
Note:
1. only available if firmware_version >= 1.10.0
2. this API can only be used on Lite6 series robotic arms:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
:return: code
code: See the API Code Documentation for details.
Playback trajectory
Note:
1. This interface relies on Firmware 1.2.0 or above:param times: Number of playbacks,
1. Only valid when the current position of the arm is the end position of the track, otherwise it will only be played once.
:param filename: The name of the trajectory to play back
1. If filename is None, you need to manually call theload_trajectoryto load the trajectory.
:param wait: whether to wait for the arm to complete, default is False
:param double_speed: double speed, only support 1/2/4, default is 1, only available if version > 1.2.11
:return: code
code: See the API Code Documentation for details.
(Standard Modbus TCP) Read Coils (0x01)
:param addr: the starting address of the register to be read
:param quantity: number of registers
:return: tuple((code, bits)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Read Holding Registers (0x03)
:param addr: the starting address of the register to be read
:param quantity: number of registers
:param is_signed: whether to convert the read register value into a signed form
:return: tuple((code, bits)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Read Discrete Inputs (0x02)
:param addr: the starting address of the register to be read
:param quantity: number of registers
:return: tuple((code, bits)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Read Input Registers (0x04)
:param addr: the starting address of the register to be read
:param quantity: number of registers
:param is_signed: whether to convert the read register value into a signed form
:return: tuple((code, bits)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Register the cmdnum changed callback, only available if enable_report is True
:param callback:
callback data:
{
"cmdnum": cmdnum
}
:return: True/False
Register the connect status changed callback
:param callback:
callback data:
{
"connected": connected,
"reported": reported,
}
:return: True/False
Register the counter value changed callback, only available if enable_report is True
:param callback:
callback data:
{
"count": counter value
}
:return: True/False
Register the error code or warn code changed callback, only available if enable_report is True
:param callback:
callback data:
{
"error_code": error_code,
"warn_code": warn_code,
}
:return: True/False
Register the callback of feedback
Note:
1. only available if firmware_version >= 2.1.0:param callback:
callback data: bytes data
data[0:2]: transaction id, (Big-endian conversion to unsigned 16-bit integer data), command ID corresponding to the feedback, consistent with issued instructions
Note: this can be used to distinguish which instruction the feedback belongs to
data[4:6]: feedback_length, feedback_length == len(data) - 6, (Big-endian conversion to unsigned 16-bit integer data)
data[8]: feedback type
1: the motion task starts executing
2: the motion task execution ends or motion task is discarded(usually when the distance is too close to be planned)
4: the non-motion task is triggered
data[9]: feedback funcode, command code corresponding to feedback, consistent with issued instructions
Note: this can be used to distinguish what instruction the feedback belongs to
data[10:12]: feedback taskid, (Big-endian conversion to unsigned 16-bit integer data)
data[12]: feedback code, execution status code, generally only meaningful when the feedback type is end, normally 0, 2 means discarded
data[13:21]: feedback us, (Big-endian conversion to unsigned 64-bit integer data), time when feedback triggers (microseconds)
Note: this time is the corresponding controller system time when the feedback is triggered
:return: True/False
Register the Identification progress value changed callback, only available if enable_report is True
:param callback:
callback data:
{
"progress": progress value
}
:return: True/False
Register the mode changed callback, only available if enable_report is True and the connect way is socket
:param callback:
callback data:
{
"mode": mode,
}
:return: True/False
Register the motor enable states or motor brake states changed callback, only available if enable_report is True and the connect way is socket
:param callback:
callback data:
{
"mtable": [motor-1-motion-enable, motor-2-motion-enable, ...],
"mtbrake": [motor-1-brake-enable, motor-1-brake-enable,...],
}
:return: True/False
def register_report_callback(self, callback=None, report_cartesian=True, report_joints=True, report_state=True, report_error_code=True, report_warn_code=True, report_mtable=True, report_mtbrake=True, report_cmd_num=True):
Register the report callback, only available if enable_report is True
:param callback:
callback data:
{
'cartesian': [], # if report_cartesian is True
'joints': [], # if report_joints is True
'error_code': 0, # if report_error_code is True
'warn_code': 0, # if report_warn_code is True
'state': state, # if report_state is True
'mtbrake': mtbrake, # if report_mtbrake is True, and available if enable_report is True and the connect way is socket
'mtable': mtable, # if report_mtable is True, and available if enable_report is True and the connect way is socket
'cmdnum': cmdnum, # if report_cmd_num is True
}
:param report_cartesian: report cartesian or not, default is True
:param report_joints: report joints or not, default is True
:param report_state: report state or not, default is True
:param report_error_code: report error or not, default is True
:param report_warn_code: report warn or not, default is True
:param report_mtable: report motor enable states or not, default is True
:param report_mtbrake: report motor brake states or not, default is True
:param report_cmd_num: report cmdnum or not, default is True
:return: True/False
def register_report_location_callback(self, callback=None, report_cartesian=True, report_joints=True):
Register the report location callback, only available if enable_report is True
:param callback:
callback data:
{
"cartesian": [x, y, z, roll, pitch, yaw], ## if report_cartesian is True
"joints": [angle-1, angle-2, angle-3, angle-4, angle-5, angle-6, angle-7], ## if report_joints is True
}
:param report_cartesian: report or not, True/False, default is True
:param report_joints: report or not, True/False, default is True
:return: True/False
Register the state status changed callback, only available if enable_report is True
:param callback:
callback data:
{
"state": state,
}
:return: True/False
Register the temperature changed callback, only available if enable_report is True
:param callback:
callback data:
{
"temperatures": [servo-1-temperature, ...., servo-7-temperature]
}
:return: True/False
Release the cmdnum changed callback
:param callback:
:return: True/False
Release the connect changed callback
:param callback:
:return: True/False
Release the counter value changed callback
:param callback:
:return: True/False
Release the error warn changed callback
:param callback:
:return: True/False
Release the callback of feedback
Note:
1. only available if firmware_version >= 2.1.0:param callback:
:return: True/False
Release the Identification progress value changed callback
:param callback:
:return: True/False
Release the mode changed callback
:param callback:
:return: True/False
Release the motor enable states or motor brake states changed callback
:param callback:
:return: True/False
Release the report callback
:param callback:
:return: True/False
Release the location report callback
:param callback:
:return: True/False
Release the state changed callback
:param callback:
:return: True/False
Release the temperature changed callback
:param callback:
:return: True/False
Reset the xArm
Warnning: without limit detection
Note:
1. If there are errors or warnings, this interface will clear the warnings and errors.
2. If not ready, the api will auto enable motion and set state
3. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc:param speed: reset speed (unit: rad/s if is_radian is True else °/s), default is 50 °/s
:param mvacc: reset acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is 5000 °/s^2
:param mvtime: reserved
:param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
Close the robotiq gripper
:param speed: gripper speed between 0 and 255
:param force: gripper force between 0 and 255
:param wait: whether to wait for the robotiq motion to complete, default is True
:param timeout: maximum waiting time(unit: second), default is 3, only available if wait=True:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
Reading the status of robotiq gripper
:param number_of_registers: number of registers, 1/2/3, default is 3
number_of_registers=1: reading the content of register 0x07D0
number_of_registers=2: reading the content of register 0x07D0/0x07D1
number_of_registers=3: reading the content of register 0x07D0/0x07D1/0x07D2
Note:
register 0x07D0: Register GRIPPER STATUS
register 0x07D1: Register FAULT STATUS and register POSITION REQUEST ECHO
register 0x07D2: Register POSITION and register CURRENT
:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
Open the robotiq gripper
:param speed: gripper speed between 0 and 255
:param force: gripper force between 0 and 255
:param wait: whether to wait for the robotiq motion to complete, default is True
:param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
Reset the robotiq gripper (clear previous activation if any)
:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
If not already activated. Activate the robotiq gripper
:param wait: whether to wait for the robotiq activate complete, default is True
:param timeout: maximum waiting time(unit: second), default is 3, only available if wait=True:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
Go to the position with determined speed and force.
:param pos: position of the gripper. Integer between 0 and 255. 0 being the open position and 255 being the close position.
:param speed: gripper speed between 0 and 255
:param force: gripper force between 0 and 255
:param wait: whether to wait for the robotion motion complete, default is True
:param timeout: maximum waiting time(unit: second), default is 5, only available if wait=True:return: tuple((code, robotiq_response))
code: See the API Code Documentation for details.
robotiq_response: See the robotiq documentation
Run the app generated by xArmStudio software
:param path: app path
Run gcode project file by xArmStudio software
:param path: gcode file path:return: code, only when code is 0, the returned result is correct.
Run the gcode file
:param path: gcode file path
Save config
Note:
1. This interface can record the current settings and will not be lost after the restart.
2. The clean_conf interface can restore system default settings:return: code
code: See the API Code Documentation for details.
Save the trajectory you just recorded
Note:
1. This interface relies on Firmware 1.2.0 or above:param filename: The name to save
1. Only strings consisting of English or numbers are supported, and the length is no more than 50.
2. The trajectory is saved in the controller box.
3. This action will overwrite the trajectory with the same name
4. Empty the trajectory in memory after saving, so repeated calls will cause the recorded trajectory to be covered by an empty trajectory.
:param wait: Whether to wait for saving, default is True
:param timeout: Timeout waiting for saving to complete
:return: code
code: See the API Code Documentation for details.
Send cmd and wait (only waiting the cmd response, not waiting for the movement)
Note:
1. Some command depends on self.default_is_radian:param command:
'G1': 'set_position(MoveLine): G1 X{x} Y{y} Z{z} A{roll} B{pitch} C{yaw} F{speed} Q{acc} T{mvtime}'
'G2': 'move_circle: G2 X{x1} Y{y1} Z{z1} A{roll1} B{pitch1} C{yaw1} I{x2} J{y2} K{z2} L{roll2} M{pitch2} N{yaw2} F{speed} Q{acc} T{mvtime}'
'G4': 'set_pause_time: G4 T{second}'
'G7': 'set_servo_angle: G7 I{servo_1} J{servo_2} K{servo_3} L{servo_4} M{servo_5} N{servo_6} O{servo_7} F{speed} Q{acc} T{mvtime}'
'G8': 'move_gohome: G8 F{speed} Q{acc} T{mvtime}'
'G9': 'set_position(MoveArcLine): G9 X{x} Y{y} Z{z} A{roll} B{pitch} C{yaw} R{radius} F{speed} Q{acc} T{mvtime}'
'G11': 'set_servo_angle_j: G11 I{servo_1} J{servo_2} K{servo_3} L{servo_4} M{servo_5} N{servo_6} O{servo_7} F{speed} Q{acc} T{mvtime}'
'H1': 'get_version: H1'
'H11': 'motion_enable: H11 I{servo_id} V{enable}'
'H12': 'set_state: H12 V{state}'
'H13': 'get_state: H13'
'H14': 'get_cmdnum: H14'
'H15': 'get_err_warn_code: H15'
'H16': 'clean_error: H16'
'H17': 'clean_warn: H17'
'H18': 'set_servo_attach/set_servo_detach: H18 I{servo_id} V{1: enable(detach), 0: disable(attach)}'
'H19': 'set_mode: H19 V{mode}'
'H31': 'set_tcp_jerk: H31 V{jerk(mm/s^3)}'
'H32': 'set_tcp_maxacc: H32 V{maxacc(mm/s^2)}'
'H33': 'set_joint_jerk: H33 V{jerk(°/s^3 or rad/s^3)}'
'H34': 'set_joint_maxacc: H34 {maxacc(°/s^2 or rad/s^2)}'
'H35': 'set_tcp_offset: H35 X{x} Y{y} Z{z} A{roll} B{pitch} C{yaw}'
'H36': 'set_tcp_load: H36 I{weight} J{center_x} K{center_y} L{center_z}'
'H37': 'set_collision_sensitivity: H37 V{sensitivity}'
'H38': 'set_teach_sensitivity: H38 V{sensitivity}'
'H39': 'clean_conf: H39'
'H40': 'save_conf: H40'
'H41': 'get_position: H41'
'H42': 'get_servo_angle: H42'
'H43': 'get_inverse_kinematics: H43 X{x} Y{y} Z{z} A{roll} B{pitch} C{yaw}'
'H44': 'get_forward_kinematics: H44 I{servo_1} J{servo_2} K{servo_3} L{servo_4} M{servo_5} N{servo_6} O{servo_7}'
'H45': 'is_joint_limit: H45 I{servo_1} J{servo_2} K{servo_3} L{servo_4} M{servo_5} N{servo_6} O{servo_7}'
'H46': 'is_tcp_limit: H46 X{x} Y{y} Z{z} A{roll} B{pitch} C{yaw}'
'H51': 'set_gravity_direction: H51 X{x} Y{y} Z{z}'
'H106': 'get_servo_debug_msg: H106'
'M116': 'set_gripper_enable: M116 V{enable}'
'M117': 'set_gripper_mode: M117 V{mode}'
'M119': 'get_gripper_position: M119'
'M120': 'set_gripper_position: M120 V{pos}'
'M121': 'set_gripper_speed: M116 V{speed}'
'M125': 'get_gripper_err_code: M125'
'M126': 'clean_gripper_error: M126'
'M131': 'get_tgpio_digital: M131'
'M132': 'set_tgpio_digital: M132 I{ionum} V{value}'
'M133': 'get_tgpio_analog, default ionum=0: M133 I{ionum=0}'
'M134': 'get_tgpio_analog, default ionum=1: M134 I{ionum=1}'
'C131': 'get_cgpio_digital: C131'
'C132': 'get_cgpio_analog, default ionum=0: C132 I{ionum=0}'
'C133': 'get_cgpio_analog, default ionum=1: C133 I{ionum=1}'
'C134': 'set_cgpio_digital: C134 I{ionum} V{value}'
'C135': 'set_cgpio_analog, default ionum=0: C135 I{ionum=0} V{value}'
'C136': 'set_cgpio_analog, default ionum=1: C136 I{ionum=1} V{value}'
'C137': 'set_cgpio_digital_input_function: C137 I{ionum} V{fun}'
'C138': 'set_cgpio_digital_output_function: C138 I{ionum} V{fun}'
'C139': 'get_cgpio_state: C139'
:return: code or tuple((code, ...))
code: See the API Code Documentation for details.
Hexadecimal communication protocol instruction
:param datas: Hexadecimal data_list
:param timeout: timeout: wait timeout, seconds, default is 10s.
:return : Hexadecimal data_list or code
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
Settings allow to avoid overspeed near some singularities using approximate solutions
Note:
1. only available if firmware_version >= 1.9.0:param on_off: allow or not, True means allow, default is False
:return: code
code: See the API Code Documentation for details.
Enable auto checkset the baudrate of the end IO board or not
Note:
only available in the API of gripper/bio/robotiq/linear_track.
:param enable: True/False
:return: code
code: See the API Code Documentation for details.
If not already enabled. Enable the bio gripper
:param enable: enable or not
:param wait: whether to wait for the bio gripper enable complete, default is True
:param timeout: maximum waiting time(unit: second), default is 3, only available if wait=True:return: code
code: See the API Code Documentation for details.
Set the speed of the bio gripper
:param speed: speed
:return: code
code: See the API Code Documentation for details.
Set cartesian motion velocity continuous
Note:
1. only available if firmware_version >= 1.9.0:param on_off: continuous or not, True means continuous, default is False
:return: code
code: See the API Code Documentation for details.
Set the analog value of the specified Controller GPIO
:param ionum: 0 or 1
:param value: value
:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
:return: code
code: See the API Code Documentation for details.
Set the analog value of the specified Controller GPIO when the robot has reached the specified xyz position
:param ionum: 0 ~ 1
:param value: value
:param xyz: position xyz, as [x, y, z]
:param fault_tolerance_radius: fault tolerance radius
:return: code
code: See the API Code Documentation for details.
Set the digital value of the specified Controller GPIO
:param ionum: 0
7(CO0CO7), 815(DO0DO7)
:param value: value
:param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
2. only available if delay_sec <= 0
:return: code
code: See the API Code Documentation for details.
Set the digital input functional mode of the Controller GPIO
:param ionum: 07(CI0CI7), 815(DI0DI7)
:param fun: functional mode
0: general input
1: external emergency stop
2: protection reset
11: offline task
12: teaching mode
13: reduced mode
14: enable arm
:return: code
code: See the API Code Documentation for details.
Set the digital output functional mode of the specified Controller GPIO
:param ionum: 07(CO0CO7), 815(DO0DO7)
:param fun: functionnal mode
0: general output
1: emergency stop
2: in motion
11: has error
12: has warn
13: in collision
14: in teaching
15: in offline task
16: in reduced mode
17: is enabled
18: emergency stop is pressed
:return: code
code: See the API Code Documentation for details.
Set the digital value of the specified Controller GPIO when the robot has reached the specified xyz position
:param ionum: 0 ~ 15
:param value: value
:param xyz: position xyz, as [x, y, z]
:param fault_tolerance_radius: fault tolerance radius
:return: code
code: See the API Code Documentation for details.
Set the checkset baud value
:param type_: checkset type
1: xarm gripper
2: bio gripper
3: robotiq gripper
4: linear track
:param baud: checkset baud value, less than or equal to 0 means disable checkset
:return: code
code: See the API Code Documentation for details.
Set cmd mat history num
Note:
Only available if firmware_version >= 2.3.0:param num: history num
:return: code
code: See the API Code Documentation for details.
Set the collision rebound,turn on/off collision rebound
Note:
1. This interface relies on Firmware 1.2.11 or above:param on: True/False
:return: code
code: See the API Code Documentation for details.
Set the sensitivity of collision
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param value: sensitivity value, 0~5
:param wait: reversed
:return: code
code: See the API Code Documentation for details.
Set the geometric model of the end effector for self collision detection
:param tool_type: the geometric model type
0: No end effector, no additional parameters required
1: xArm Gripper, no additional parameters required
2: xArm Vacuum Gripper, no additional parameters required
3: xArm Bio Gripper, no additional parameters required
4: Robotiq-2F-85 Gripper, no additional parameters required
5: Robotiq-2F-140 Gripper, no additional parameters required
21: Cylinder, need additional parameters radius, height
self.set_collision_tool_model(21, radius=45, height=137)
:param radius: the radius of cylinder, (unit: mm)
:param height: the height of cylinder, (unit: mm)
22: Cuboid, need additional parameters x, y, z
self.set_collision_tool_model(22, x=234, y=323, z=23)
:param x: the length of the cuboid in the x coordinate direction, (unit: mm)
:param y: the length of the cuboid in the y coordinate direction, (unit: mm)
:param z: the length of the cuboid in the z coordinate direction, (unit: mm)
:param args: additional parameters
:param kwargs: additional parameters
:return: code
code: See the API Code Documentation for details.
Set the modbus baudrate of the control box
:param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000
:return: code
code: See the API Code Documentation for details.
Set counter plus value, only support plus 1
:param val: reversed
:return: code
code: See the API Code Documentation for details.
Reset counter value
:return: code
code: See the API Code Documentation for details.
Set the DH parameters
Note:
1. only available if firmware_version >= 2.0.0
2. this interface is only provided for users who need to use external DH parameters, ordinary users should not try to modify DH parameters.:param dh_params: DH parameters
:param flag:
0: Use the set DH parameters, but do not write to the configuration file
1: Use the set DH parameters and write to the configuration file
2: Use the set DH parameters and delete the DH parameters of the configuration file
3: Use the default DH parameters, but will not delete the DH parameters of the configuration file
4: Use the default DH parameters and delete the DH parameters of the configuration file
:return: code
code: See the API Code Documentation for details.
Set fdb mat history num
Note:
Only available if firmware_version >= 2.3.0:param num: history num
:return: code
code: See the API Code Documentation for details.
Set the feedback type
Note:
1. only available if firmware_version >= 2.1.0
2. only works in position mode
3. the setting will only affect subsequent tasks and will not affect previously cached tasks
4. only valid for the current connection:param feedback_type:
0: disable feedback
1: feedback when the motion task starts executing
2: feedback when the motion task execution ends or motion task is discarded(usually when the distance is too close to be planned)
4: feedback when the non-motion task is triggered
:return: code
code: See the API Code Documentation for details.
Set the fence mode,turn on/off fense mode
Note:
1. This interface relies on Firmware 1.2.11 or above:param on: True/False
:return: code
code: See the API Code Documentation for details.
Set force control pid parameters through the Six-axis Force Torque Sensor.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param kp: proportional gain.
:param ki: integral gain.
:param kd: differential gain.
:param xe_limit: 6d vector. for compliant axes, these values are the maximum allowed tcp speed along/about the axis. mm/s
:return: code
code: See the API Code Documentation for details.
Set the direction of gravity
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param direction: direction of gravity, such as [x(mm), y(mm), z(mm)]
:param wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting
:return: code
code: See the API Code Documentation for details.
Set the gripper enable
:param enable: enable or not
Note: such as code = arm.set_gripper_enable(True) #turn on the Gripper
:return: code
code: See the API Code Documentation for details.
Set the gripper mode
:param mode: 0: location mode
Note: such as code = arm.set_gripper_mode(0)
:return: code
code: See the API Code Documentation for details.
def set_gripper_position(self, pos, wait=False, speed=None, auto_enable=False, timeout=None, **kwargs):
Set the gripper position
:param pos: pos
:param wait: wait or not, default is False
:param speed: speed,unit:r/min
:param auto_enable: auto enable or not, default is False
:param timeout: wait time, unit:second, default is 10s
:return: code
code: See the API Code Documentation for details.
Set the gripper speed
:param speed:
:return: code
code: See the API Code Documentation for details.
Set all parameters of impedance control through the Six-axis Force Torque Sensor.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param coord: task frame. 0: base frame. 1: tool frame.
:param c_axis: a 6d vector of 0s and 1s. 1 means that robot will be impedance in the corresponding axis of the task frame.
:param M: mass. (kg)
:param K: stiffness coefficient.
:param B: damping coefficient. invalid.
Note: the value is set to 2sqrt(MK) in controller.
:return: code
code: See the API Code Documentation for details.
Set impedance control parameters of impedance control through the Six-axis Force Torque Sensor.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param coord: task frame. 0: base frame. 1: tool frame.
:param c_axis: a 6d vector of 0s and 1s. 1 means that robot will be impedance in the corresponding axis of the task frame.
:return: code
code: See the API Code Documentation for details.
Set mbk parameters of impedance control through the Six-axis Force Torque Sensor.
Note:
1. only available if firmware_version >= 1.8.3
2. the Six-axis Force Torque Sensor is required (the third party is not currently supported):param M: mass. (kg)
:param K: stiffness coefficient.
:param B: damping coefficient. invalid.
Note: the value is set to 2sqrt(MK) in controller.
:return: code
code: See the API Code Documentation for details.
Set the initial point
:param point: initial point, [J1, J2, ..., J7]
:return: code
code: See the API Code Documentation for details.
Set the jerk of Joint space
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param jerk: jerk (°/s^3 or rad/s^3)
:param is_radian: the jerk in radians or not, default is self.default_is_radian
:return: code
code: See the API Code Documentation for details.
Set the max acceleration of Joint space
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param acc: max acceleration (°/s^2 or rad/s^2)
:param is_radian: the jerk in radians or not, default is self.default_is_radian
:return: code
code: See the API Code Documentation for details.
Set linear speed limit factor (default is 1.2)
Note:
1. only available if firmware_version >= 2.3.0
2. only available in mode 1:param factor: speed limit factor
:return: code
code: See the API Code Documentation for details.
Set the linear track go back to the origin position
Note:
1. only available if firmware_version >= 1.8.0
2. only useful when powering on for the first time
3. this operation must be performed at the first power-on
:param wait: wait to motion finish or not, default is True
:param kwargs:
auto_enable: enable after back to origin or not, default is True
:return: code
code: See the API Code Documentation for details.
Set the linear track enable/disable
Note:
1. only available if firmware_version >= 1.8.0:param enable: enable or not
:return: code
code: See the API Code Documentation for details.
Set the position of the linear track
Note:
1. only available if firmware_version >= 1.8.0:param pos: position. Integer between 0 and 700/1000/1500mm.
If SN start with AL1300 the position range is 0700mm.1000mm.
If SN start with AL1301 the position range is 0
If SN start with AL1302 the position range is 0~1500mm.
:param speed: speed of the linear track. Integer between 1 and 1000mm/s. default is not set
:param wait: wait to motion finish or not, default is True
:param timeout: wait timeout, seconds, default is 100s.
:return: code
code: See the API Code Documentation for details.
Set the speed of the linear track
Note:
1. only available if firmware_version >= 1.8.0:param speed: Integer between 1 and 1000mm/s.
:return: code
code: See the API Code Documentation for details.
Set the linear track to stop
Note:
1. only available if firmware_version >= 1.8.0:return: code
code: See the API Code Documentation for details.
Set the xArm mode
:param mode: default is 0
0: position control mode
1: servo motion mode
Note: the use of the set_servo_angle_j interface must first be set to this mode
Note: the use of the set_servo_cartesian interface must first be set to this mode
2: joint teaching mode
Note: use this mode to ensure that the arm has been identified and the control box and arm used for identification are one-to-one.
3: cartesian teaching mode (invalid)
4: joint velocity control mode
5: cartesian velocity control mode
6: joint online trajectory planning mode
7: cartesian online trajectory planning mode
:param detection_param: Teaching detection parameters, default is 0
0: Turn on motion detection
1: Turn off motion detection
Note:
1. only available if firmware_version >= 1.10.1
2. only available if set_mode(2)
:return: code
code: See the API Code Documentation for details.
Set the mount direction
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param base_tilt_deg: tilt degree
:param rotation_deg: rotation degree
:param is_radian: the base_tilt_deg/rotation_deg in radians or not, default is self.default_is_radian
:return: code
code: See the API Code Documentation for details.
Set the motion process detection type (valid for all motion interfaces of the current SDK instance)
Note:
1. only available if firmware_version >= 1.11.100
2. This interface is a global configuration item of the current SDK, and affects all motion-related interfaces
3. Generally, you only need to call when you don't want to move the robotic arm and only check whether some paths will have self-collision/angle-limit/cartesian-limit/overspeed.
4. Currently only self-collision/angle-limit/cartesian-limit/overspeed are detected
5. If only_check_type is set to be greater than 0, and the return value of calling the motion interface is not 0, you can view arm.only_check_result to view the specific error codeExample: (Common scenarios, here is an example of the set_position interface)
1. Check whether the process from point A to point B is normal (no self-collision and overspeed triggered)
1.1 Move to point A
arm.set_only_check_type(0)
code = arm.set_position(A)
1.2 Check if the process from point A to point B is normal (no self-collision and overspeed triggered)
arm.set_only_check_type(1)
code = arm.set_position(B)
# If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result
arm.set_only_check_type(0)
2. Check whether the process from point A to point B, C, and D to point E is normal (no self-collision and overspeed are triggered)
2.1 Move to point A
arm.set_only_check_type(0)
code = arm.set_position(A)
2.2 Check whether the process of point A passing through points B, C, D to point E is normal (no self-collision and overspeed are triggered)
arm.set_only_check_type(3)
code = arm.set_position(B)
# If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result
code = arm.set_position(C)
# If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result
code = arm.set_position(D)
# If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result
code = arm.set_position(E)
# If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result
arm.set_only_check_type(0):param only_check_type: Motion Detection Type
only_check_type == 0: Restore the original function of the motion interface, it will move, the default is 0
only_check_type == 1: Only check the self-collision without moving, take the actual state of the manipulator as the initial planned path, and check whether the path has self-collision (the intermediate state will be updated at this time)
only_check_type == 2: Only check the self-collision without moving, use the intermediate state as the starting planning path, check whether the path has self-collision (the intermediate state will be updated at this time), and restore the intermediate state to the actual state after the end
only_check_type == 3: Only check the self-collision without moving, use the intermediate state as the starting planning path, and check whether the path has self-collision (the intermediate state will be updated at this time)
:return: code
code: See the API Code Documentation for details.
Set the arm pause time, xArm will pause sltime second
:param sltime: sleep time,unit:(s)second
:param wait: wait or not, default is False
:return: code
code: See the API Code Documentation for details.
def set_position(self, x=None, y=None, z=None, roll=None, pitch=None, yaw=None, radius=None, speed=None, mvacc=None, mvtime=None, relative=False, is_radian=None, wait=False, timeout=None, **kwargs):
Set the cartesian position, the API will modify self.last_used_position value
Note:
1. If it is xArm5, ensure that the current robotic arm has a roll value of 180° or π rad and has a roll value of 0 before calling this interface.
2. If it is xArm5, roll must be set to 180° or π rad, pitch must be set to 0
3. If the parameter(roll/pitch/yaw) you are passing is an radian unit, be sure to set the parameter is_radian to True.
ex: code = arm.set_position(x=300, y=0, z=200, roll=-3.14, pitch=0, yaw=0, is_radian=True)
4. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.
ex: code = arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, is_radian=False, wait=True)
5. This interface is only used in the base coordinate system.:param x: cartesian position x, (unit: mm), default is self.last_used_position[0]
:param y: cartesian position y, (unit: mm), default is self.last_used_position[1]
:param z: cartesian position z, (unit: mm), default is self.last_used_position[2]
:param roll: rotate around the X axis, (unit: rad if is_radian is True else °), default is self.last_used_position[3]
:param pitch: rotate around the Y axis, (unit: rad if is_radian is True else °), default is self.last_used_position[4]
:param yaw: rotate around the Z axis, (unit: rad if is_radian is True else °), default is self.last_used_position[5]
:param radius: move radius, if radius is None or radius less than 0, will MoveLine, else MoveArcLine
MoveLine: Linear motion
ex: code = arm.set_position(..., radius=None)
MoveArcLine: Linear arc motion with interpolation
ex: code = arm.set_position(..., radius=0)
Note: Need to set radius>=0
:param speed: move speed (mm/s, rad/s), default is self.last_used_tcp_speed
:param mvacc: move acceleration (mm/s^2, rad/s^2), default is self.last_used_tcp_acc
:param mvtime: 0, reserved
:param relative: relative move or not
:param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:param kwargs: extra parameters
:param motion_type: motion planning type, default is 0
motion_type == 0: default, linear planning
motion_type == 1: prioritize linear planning, and turn to IK for joint planning when linear planning is not possible
motion_type == 2: direct transfer to IK using joint planning
Note:
1. only available if firmware_version >= 1.11.100
2. when motion_type is 1 or 2, linear motion cannot be guaranteed
3. once IK is transferred to joint planning, the given Cartesian velocity and acceleration are converted into joint velocity and acceleration according to the percentage
speed = speed / max_tcp_speed * max_joint_speed
mvacc = mvacc / max_tcp_acc * max_joint_acc
4. if there is no suitable IK, a C40 error will be triggered
:return: code
code: See the API Code Documentation for details.
code < 0: the last_used_position/last_used_tcp_speed/last_used_tcp_acc will not be modified
code >= 0: the last_used_position/last_used_tcp_speed/last_used_tcp_acc will be modified
def set_position_aa(self, axis_angle_pose, speed=None, mvacc=None, mvtime=None, is_radian=None, is_tool_coord=False, relative=False, wait=False, timeout=None, radius=None, **kwargs):
Set the pose represented by the axis angle pose
:param axis_angle_pose: the axis angle pose, [x(mm), y(mm), z(mm), rx(rad or °), ry(rad or °), rz(rad or °)]
:param speed: move speed (mm/s, rad/s), default is self.last_used_tcp_speed
:param mvacc: move acceleration (mm/s^2, rad/s^2), default is self.last_used_tcp_acc
:param mvtime: 0, reserved
:param is_radian: the rx/ry/rz of axis_angle_pose in radians or not, default is self.default_is_radian
:param is_tool_coord: is tool coordinate or not, if it is True, the relative parameter is no longer valid
:param relative: relative move or not
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:param radius: move radius, if radius is None or radius less than 0, will MoveLineAA, else MoveArcLineAA
only available if firmware_version >= 1.11.100
MoveLineAA: Linear motion
ex: code = arm.set_position_aa(..., radius=None)
MoveArcLineAA: Linear arc motion with interpolation
ex: code = arm.set_position_aa(..., radius=0)
Note: Need to set radius>=0
:param kwargs: extra parameters
:param motion_type: motion planning type, default is 0
motion_type == 0: default, linear planning
motion_type == 1: prioritize linear planning, and turn to IK for joint planning when linear planning is not possible
motion_type == 2: direct transfer to IK using joint planning
Note:
1. only available if firmware_version >= 1.11.100
2. when motion_type is 1 or 2, linear motion cannot be guaranteed
3. once IK is transferred to joint planning, the given Cartesian velocity and acceleration are converted into joint velocity and acceleration according to the percentage
speed = speed / max_tcp_speed * max_joint_speed
mvacc = mvacc / max_tcp_acc * max_joint_acc
4. if there is no suitable IK, a C40 error will be triggered
:return: code
code: See the API Code Documentation for details.
Set the joint range of the reduced mode
Note:
1. This interface relies on Firmware 1.2.11 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True)):param joint_range: [joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]
:param is_radian: the param joint_range are in radians or not, default is self.default_is_radian
:return:
Set the maximum joint speed of the reduced mode
Note:
1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True)):param speed: speed (°/s or rad/s)
:param is_radian: the speed is in radians or not, default is self.default_is_radian
:return: code
code: See the API Code Documentation for details.
Set the maximum tcp speed of the reduced mode
Note:
1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True)):param speed: speed (mm/s)
:return: code
code: See the API Code Documentation for details.
Turn on/off reduced mode
Note:
1. This interface relies on Firmware 1.2.0 or above:param on: True/False
such as:Turn on the reduced mode : code=arm.set_reduced_mode(True)
:return: code
code: See the API Code Documentation for details.
Set the boundary of the safety boundary mode
Note:
1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True)):param boundary: [x_max, x_min, y_max, y_min, z_max, z_min]
:return: code
code: See the API Code Documentation for details.
Set the reported torque or electric current
:param tau_or_i:
0: torque
1: electric current:return: code
code: See the API Code Documentation for details.
Set safe level,
:param level: safe level, default is 4
:return: code
code: See the API Code Documentation for details.
Set whether to enable self-collision detection
:param on_off: enable or not
:return: code
code: See the API Code Documentation for details.
def set_servo_angle(self, servo_id=None, angle=None, speed=None, mvacc=None, mvtime=None, relative=False, is_radian=None, wait=False, timeout=None, radius=None, **kwargs):
Set the servo angle, the API will modify self.last_used_angles value
Note:
1. If the parameter angle you are passing is an radian unit, be sure to set the parameter is_radian to True.
ex: code = arm.set_servo_angle(servo_id=1, angle=1.57, is_radian=True)
2. If you want to wait for the robot to complete this action and then return, please set the parameter wait to True.
ex: code = arm.set_servo_angle(servo_id=1, angle=45, is_radian=False,wait=True)
3. This interface is only used in the base coordinate system.:param servo_id: 1-(Number of axes), None(8)
1. 1-(Number of axes) indicates the corresponding joint, the parameter angle should be a numeric value
ex: code = arm.set_servo_angle(servo_id=1, angle=45, is_radian=False)
2. None(8) means all joints, default is None, the parameter angle should be a list of values whose length is the number of joints
ex: code = arm.set_servo_angle(angle=[30, -45, 0, 0, 0, 0, 0], is_radian=False)
:param angle: angle or angle list, (unit: rad if is_radian is True else °)
1. If servo_id is 1-(Number of axes), angle should be a numeric value
ex: code = arm.set_servo_angle(servo_id=1, angle=45, is_radian=False)
2. If servo_id is None or 8, angle should be a list of values whose length is the number of joints
like [axis-1, axis-2, axis-3, axis-3, axis-4, axis-5, axis-6, axis-7]
ex: code = arm.set_servo_angle(angle=[30, -45, 0, 0, 0, 0, 0], is_radian=False)
:param speed: move speed (unit: rad/s if is_radian is True else °/s), default is self.last_used_joint_speed
:param mvacc: move acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is self.last_used_joint_acc
:param mvtime: 0, reserved
:param relative: relative move or not
:param is_radian: the angle in radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:param radius: move radius, if radius is None or radius less than 0, will MoveJoint, else MoveArcJoint
Note: Only available if version > 1.5.20
Note: The blending radius cannot be greater than the track length.
MoveJoint: joint motion
ex: code = arm.set_servo_angle(..., radius=None)
MoveArcJoint: joint fusion motion with interpolation
ex: code = arm.set_servo_angle(..., radius=0)
Note: Need to set radius>=0
:param kwargs: reserved
:return: code
code: See the API Code Documentation for details.
code < 0: the last_used_angles/last_used_joint_speed/last_used_joint_acc will not be modified
code >= 0: the last_used_angles/last_used_joint_speed/last_used_joint_acc will be modified
Set the servo angle, execute only the last instruction, need to be set to servo motion mode(self.set_mode(1))
Note:
1. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc
2. This interface is only used in the base coordinate system.:param angles: angle list, (unit: rad if is_radian is True else °)
:param speed: speed, reserved
:param mvacc: acceleration, reserved
:param mvtime: 0, reserved
:param is_radian: the angles in radians or not, default is self.default_is_radian
:param kwargs: reserved
:return: code
code: See the API Code Documentation for details.
Attach the servo
:param servo_id: 1-(Number of axes), 8, if servo_id is 8, will attach all servo
1. 1-(Number of axes): attach only one joint
ex: arm.set_servo_attach(servo_id=1)
2: 8: attach all joints
ex: arm.set_servo_attach(servo_id=8)
:return: code
code: See the API Code Documentation for details.
def set_servo_cartesian(self, mvpose, speed=None, mvacc=None, mvtime=0, is_radian=None, is_tool_coord=False, **kwargs):
Set the servo cartesian, execute only the last instruction, need to be set to servo motion mode(self.set_mode(1))
:param mvpose: cartesian position, [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]
:param speed: move speed (mm/s), reserved
:param mvacc: move acceleration (mm/s^2), reserved
:param mvtime: 0, reserved
:param is_radian: the roll/pitch/yaw of mvpose in radians or not, default is self.default_is_radian
:param is_tool_coord: is tool coordinate or not
:param kwargs: reserved
:return: code
code: See the API Code Documentation for details.
def set_servo_cartesian_aa(self, axis_angle_pose, speed=None, mvacc=None, is_radian=None, is_tool_coord=False, relative=False, **kwargs):
Set the servo cartesian represented by the axis angle pose, execute only the last instruction, need to be set to servo motion mode(self.set_mode(1))
Note:
1. only available if firmware_version >= 1.4.7:param axis_angle_pose: the axis angle pose, [x(mm), y(mm), z(mm), rx(rad or °), ry(rad or °), rz(rad or °)]
:param speed: move speed (mm/s), reserved
:param mvacc: move acceleration (mm/s^2), reserved
:param is_radian: the rx/ry/rz of axis_angle_pose in radians or not, default is self.default_is_radian
:param is_tool_coord: is tool coordinate or not
:param relative: relative move or not
:return: code
code: See the API Code Documentation for details.
Detach the servo, be sure to do protective work before unlocking to avoid injury or damage.
:param servo_id: 1-(Number of axes), 8, if servo_id is 8, will detach all servo
1. 1-(Number of axes): detach only one joint
ex: arm.set_servo_detach(servo_id=1)
2: 8: detach all joints, please
ex: arm.set_servo_detach(servo_id=8)
:return: code
code: See the API Code Documentation for details.
Set the simulation robot
:param on_off: True/False
:return: code
code: See the API Code Documentation for details.
Set the xArm state
:param state: default is 0
0: sport state
3: pause state
4: stop state
:return: code
code: See the API Code Documentation for details.
Set the translational jerk of Cartesian space
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param jerk: jerk (mm/s^3)
:return: code
code: See the API Code Documentation for details.
Set the end load of xArm
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param weight: load weight (unit: kg)
:param center_of_gravity: load center of gravity, such as [x(mm), y(mm), z(mm)]
:param wait: whether to wait for the command to be executed or the the robotic arm to stop
:return: code
code: See the API Code Documentation for details.
Set the max translational acceleration of Cartesian space
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param acc: max acceleration (mm/s^2)
:return: code
code: See the API Code Documentation for details.
Set the tool coordinate system offset at the end
Note:
1. Do not use if not required
2. If not saved and you want to revert to the last saved value, please reset the offset by set_tcp_offset([0, 0, 0, 0, 0, 0])
3. If not saved, it will be lost after reboot
4. The save_conf interface can record the current settings and will not be lost after the restart.
5. The clean_conf interface can restore system default settings:param offset: [x, y, z, roll, pitch, yaw]
:param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
:param wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting
:return: code
code: See the API Code Documentation for details.
Set the sensitivity of drag and teach
Note:
1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings:param value: sensitivity value, 1~5
:param wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting
:return: code
code: See the API Code Documentation for details.
Set the digital value of the specified Tool GPIO
:param ionum: 0 or 1
:param value: value
:param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
2. only available if delay_sec <= 0
:return: code
code: See the API Code Documentation for details.
Set the digital value of the specified Tool GPIO when the robot has reached the specified xyz position
:param ionum: 0 or 1
:param value: value
:param xyz: position xyz, as [x, y, z]
:param fault_tolerance_radius: fault tolerance radius
:return: code
code: See the API Code Documentation for details.
Set the modbus baudrate of the tool gpio
:param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000
:return: code
code: See the API Code Documentation for details.
Set the modbus timeout of the tool gpio
:param timeout: timeout, milliseconds
:param is_transparent_transmission: whether the set timeout is the timeout of transparent transmission
Note: only available if firmware_version >= 1.11.0:return: code
code: See the API Code Documentation for details.
Set the timeout of cmd response
:param timeout: seconds
def set_tool_position(self, x=0, y=0, z=0, roll=0, pitch=0, yaw=0, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False, timeout=None, radius=None, **kwargs):
Movement relative to the tool coordinate system
Note:
1. This interface is moving relative to the current tool coordinate system
2. The tool coordinate system is not fixed and varies with position.
3. This interface is only used in the tool coordinate system.:param x: the x coordinate relative to the current tool coordinate system, (unit: mm), default is 0
:param y: the y coordinate relative to the current tool coordinate system, (unit: mm), default is 0
:param z: the z coordinate relative to the current tool coordinate system, (unit: mm), default is 0
:param roll: the rotate around the X axis relative to the current tool coordinate system, (unit: rad if is_radian is True else °), default is 0
:param pitch: the rotate around the Y axis relative to the current tool coordinate system, (unit: rad if is_radian is True else °), default is 0
:param yaw: the rotate around the Z axis relative to the current tool coordinate system, (unit: rad if is_radian is True else °), default is 0
:param speed: move speed (mm/s, rad/s), default is self.last_used_tcp_speed
:param mvacc: move acceleration (mm/s^2, rad/s^2), default is self.last_used_tcp_acc
:param mvtime: 0, reserved
:param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
:param wait: whether to wait for the arm to complete, default is False
:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
:param radius: move radius, if radius is None or radius less than 0, will MoveToolLine, else MoveToolArcLine
only available if firmware_version >= 1.11.100
MoveToolLine: Linear motion
ex: code = arm.set_tool_position(..., radius=None)
MoveToolArcLine: Linear arc motion with interpolation
ex: code = arm.set_tool_position(..., radius=0)
Note: Need to set radius>=0
:param kwargs: extra parameters
:param motion_type: motion planning type, default is 0
motion_type == 0: default, linear planning
motion_type == 1: prioritize linear planning, and turn to IK for joint planning when linear planning is not possible
motion_type == 2: direct transfer to IK using joint planning
Note:
1. only available if firmware_version >= 1.11.100
2. when motion_type is 1 or 2, linear motion cannot be guaranteed
3. once IK is transferred to joint planning, the given Cartesian velocity and acceleration are converted into joint velocity and acceleration according to the percentage
speed = speed / max_tcp_speed * max_joint_speed
mvacc = mvacc / max_tcp_acc * max_joint_acc
4. if there is no suitable IK, a C40 error will be triggered
:return: code
code: See the API Code Documentation for details.
code < 0: the last_used_tcp_speed/last_used_tcp_acc will not be modified
code >= 0: the last_used_tcp_speed/last_used_tcp_acc will be modified
def set_vacuum_gripper(self, on, wait=False, timeout=3, delay_sec=None, sync=True, hardware_version=1):
Set vacuum gripper state
:param on: open or not
on=True: equivalent to callingset_tgpio_digital(0, 1)andset_tgpio_digital(1, 0)
on=False: equivalent to callingset_tgpio_digital(0, 0)andset_tgpio_digital(1, 1)
:param wait: wait or not, default is False
:param timeout: wait time, unit:second, default is 3s
:param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
2. only available if delay_sec <= 0
:param hardware_version: hardware version
1: Plug-in Connection, default
2: Contact Connection
:return: code
code: See the API Code Documentation for details.
Set the base coordinate offset
Note:
1. This interface relies on Firmware 1.2.11 or above:param offset: [x, y, z, roll, pitch, yaw]
:param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
:param wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting
:return: code
code: See the API Code Documentation for details.
Start trajectory recording, only in teach mode, so you need to set joint teaching mode before.
Note:
1. This interface relies on Firmware 1.2.0 or above
2. set joint teaching mode: set_mode(2);set_state(0):return: code
code: See the API Code Documentation for details.
Stop the gripper of Lite6 series robotic arms
Note:
1. only available if firmware_version >= 1.10.0
2. this API can only be used on Lite6 series robotic arms:param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
1. only available if firmware_version >= 2.4.101
:return: code
code: See the API Code Documentation for details.
Stop trajectory recording
Note:
1. This interface relies on Firmware 1.2.0 or above:param filename: The name to save
1. Only strings consisting of English or numbers are supported, and the length is no more than 50.
2. The trajectory is saved in the controller box.
3. If the filename is None, just stop recording, do not save, you need to manually callsave_record_trajectorysave before changing the mode. otherwise it will be lost
4. This action will overwrite the trajectory with the same name
5. Empty the trajectory in memory after saving
:return: code
code: See the API Code Documentation for details.
Control the xArm controller system
:param value: 1: shutdown, 2: reboot
:return: code
code: See the API Code Documentation for details.
def vc_set_cartesian_velocity(self, speeds, is_radian=None, is_tool_coord=False, duration=-1, **kwargs):
Cartesian velocity control, need to be set to cartesian velocity control mode(self.set_mode(5))
Note:
1. only available if firmware_version >= 1.6.9
:param speeds: [spd_x, spd_y, spd_z, spd_rx, spd_ry, spd_rz]
:param is_radian: the spd_rx/spd_ry/spd_rz in radians or not, default is self.default_is_radian
:param is_tool_coord: is tool coordinate or not, default is False
:param duration: the maximum duration of the speed, over this time will automatically set the speed to 0
Note: only available if firmware_version >= 1.8.0
duration > 0: seconds, indicates the maximum number of seconds that this speed can be maintained
duration == 0: Always effective, will not stop automatically
duration < 0: default value, only used to be compatible with the old protocol, equivalent to 0
:return: code
code: See the API Code Documentation for details.
Joint velocity control, need to be set to joint velocity control mode(self.set_mode(4))
Note:
1. only available if firmware_version >= 1.6.9:param speeds: [spd_J1, spd_J2, ..., spd_J7]
:param is_radian: the spd_Jx in radians or not, default is self.default_is_radian
:param is_sync: whether all joints accelerate and decelerate synchronously, default is True
:param duration: The duration of this speed command, over this time will automatically set the speed to 0
Note: only available if firmware_version >= 1.8.0
duration > 0: seconds
duration == 0: Always effective, will not stop automatically
duration < 0: default value, only used to be compatible with the old protocol, equivalent to 0
:return: code
code: See the API Code Documentation for details.
(Standard Modbus TCP) Write and Read Holding Registers (0x17)
:param r_addr: the starting address of the register to be read
:param r_quantity: number of registers to read
:param w_addr: the starting address of the register to be written
:param w_regs: array of values to write
:param is_signed: whether to convert the read register value into a signed form
:return: tuple((code, regs)) only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Write Multiple Coils (0x0F)
:param addr: the starting address of the register to be written
:param bits: array of values to write
:return: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Write Multiple Holding Registers (0x10)
:param addr: the starting address of the register to be written
:param regs: array of values to write
:return: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Write Single Coil (0x05)
:param addr: register address
:param bit_val: the value to write (0/1)
:return: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP
(Standard Modbus TCP) Write Single Holding Register (0x06)
:param addr: register address
:param bit_val: the value to write
:return: See the API Code Documentation for details.
Note: code 129~144 means modbus tcp exception, the actual modbus tcp exception code is (code-0x80), refer to Standard Modbus TCP