xArm-Python-SDK

Overview

xArm Python SDK

Caution

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

Installation

you can run examples without installation. Only Python 3 is supported.

• Install from source code
  • download

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

  • install
    • install with build

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

    • install with source code

      pip install .

• Install from pypi

  pip install xarm-python-sdk

Doc

• API Document

• API Code Document

• UFACTORY ModbusTCP Manual

Update Summary

• 1.18.3/1.18.4

  • Added BytesData for data conversion
  • Added data structure for report data
  • Update the reported data for port 30002
  • Increase execution speed by adding parameter to reduce the number of checks performed by the gripper APIs

• 1.17.0/1.17.1

  • Change some API names

• 1.16.0

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

• 1.15.0

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

• 1.14.7

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

• More

API Change List

OLD API NAME	NEW API NAME	SDK VERSION
set_tgpio_modbus_timeout	set_rs485_timeout	1.17.1
get_tgpio_modbus_timeout	get_rs485_timeout	1.17.1
set_tgpio_modbus_baudrate	set_rs485_baudrate	1.17.1
get_tgpio_modbus_baudrate	get_rs485_baudrate	1.17.1
getset_tgpio_modbus_data	set_rs485_data	1.17.1
set_impedance	set_ft_sensor_admittance_parameters	1.17.0
set_impedance_mbk	set_ft_sensor_admittance_parameters	1.17.0
set_impedance_config	set_ft_sensor_admittance_parameters	1.17.0
set_force_control_pid	set_ft_sensor_force_parameters	1.17.0
config_force_control	set_ft_sensor_force_parameters	1.17.0
ft_sensor_set_zero	set_ft_sensor_zero	1.17.0
ft_sensor_iden_load	iden_ft_sensor_load_offset	1.17.0
ft_sensor_cali_load	set_ft_sensor_load_offset	1.17.0
ft_sensor_enable	set_ft_sensor_enable	1.17.0
ft_sensor_app_set	set_ft_sensor_mode	1.17.0
ft_sensor_app_get	get_ft_sensor_mode	1.17.0
get_linear_track_registers	get_linear_motor_registers	1.17.0
get_linear_track_pos	get_linear_motor_pos	1.17.0
get_linear_track_status	get_linear_motor_status	1.17.0
get_linear_track_error	get_linear_motor_error	1.17.0
get_linear_track_is_enabled	get_linear_motor_is_enabled	1.17.0
get_linear_track_on_zero	get_linear_motor_on_zero	1.17.0
get_linear_track_sci	get_linear_motor_sci	1.17.0
get_linear_track_sco	get_linear_motor_sco	1.17.0
clean_linear_track_error	clean_linear_motor_error	1.17.0
set_linear_track_enable	set_linear_motor_enable	1.17.0
set_linear_track_speed	set_linear_motor_speed	1.17.0
set_linear_track_back_origin	set_linear_motor_back_origin	1.17.0
set_linear_track_pos	set_linear_motor_pos	1.17.0
set_linear_track_stop	set_linear_motor_stop	1.17.0
shutdown_system	system_control	1.13.3
get_suction_cup	get_vacuum_gripper	1.5.0
set_suction_cup	set_vacuum_gripper	1.5.0
get_ik	get_inverse_kinematics	1.0.0
get_fk	get_forward_kinematics	1.0.0
set_sleep_time	set_pause_time	1.0.0
get_gpio_digital	get_tgpio_digital	1.0.0
set_gpio_digital	set_tgpio_digital	1.0.0
get_gpio_analog	get_tgpio_analog	1.0.0

Example

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

• 0000-template

• 0001-event_register

• 0002-get_property

• 0003-api_get

• 0004-servo_attach_detach

• 1001-move_line

• 1002-move_line

• 1003-relative_move_line

• 1004-move_arc_line

• 1005-move_arc_line

• 1006-move_tool_line

• 1007-counter

• 1008-move_line_aa

• 1009-cartesian_velocity_control

• 1010-cartesian_online_trajectory_planning

• 2000-joint_velocity_control

• 2006-joint_online_trajectory_planning

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

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

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

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

• 2005-move_arc_joint --> xarm5 --- xarm6 --- xarm7

• 3001-move_circle

• 3002-record_trajectory

• 3003-playback_trajectory

• 3004-get_report_data

• 3005-task_feedback

• 3006-standard_modbus_tcp

• 5000-set_tgpio_modbus

• 5001-get_tgpio_digital

• 5002-get_tgpio_analog

• 5003-set_tgpio_digital

• 5004-set_gripper

• 5005-get_cgpio_digital_analog

• 5006-set_cgpio_digital_analog

• 5007-set_cgpio_input_output_function

• 5008-get_cgpio_state

• 5009-set_bio_gripper

• 6001-set_reduced_mode

• 6002-set_fence_mode

• 7001-servo_j

• 7002-servo_cartesian

• 7003-servo_cartesian_aa

• 8000-load_identify_current

• 8001-force_tech

• 8002-admittance-control

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_motor

• blockly_to_python

• get_report_data_with_protocol

• Import

  fromxarm.wrapperimportXArmAPIarm=XArmAPI('COM5')
  arm=XArmAPI('192.168.1.113')
  arm=XArmAPI('192.168.1.113', do_not_open=False)
  arm=XArmAPI('192.168.1.113', is_radian=False)

• Connect/Disconnect

  arm.connect(...)
  arm.disconnect()

• Move

  arm.reset(...)
  arm.set_position(...)
  arm.set_servo_angle(...)
  arm.set_servo_angle_j(...)
  arm.set_servo_cartesian(...)
  arm.move_gohome(...)
  arm.move_circle(...)
  arm.emergency_stop()
  arm.set_position_aa(...)
  arm.set_servo_cartesian_aa(...)
  arm.vc_set_joint_velocity(...)
  arm.vc_set_cartesian_velocity(...)

• Set

  arm.set_servo_attach(...)
  arm.set_servo_detach(...)
  arm.set_state(...)
  arm.set_mode(...)
  arm.motion_enable(...)
  arm.set_pause_time(...)

• Get

  arm.get_version()
  arm.get_state()
  arm.get_is_moving()
  arm.get_cmdnum()
  arm.get_err_warn_code()
  arm.get_position(...)
  arm.get_servo_angle(...)
  arm.get_position_aa(...)
  arm.get_pose_offset(...)

• Setting

  arm.set_tcp_offset(...)
  arm.set_tcp_jerk(...)
  arm.set_tcp_maxacc(...)
  arm.set_joint_jerk(...)
  arm.set_joint_maxacc(...)
  arm.set_tcp_load(...)
  arm.set_collision_sensitivity(...)
  arm.set_teach_sensitivity(...)
  arm.set_gravity_direction(...)
  arm.config_tgpio_reset_when_stop(...)
  arm.config_cgpio_reset_when_stop(...)
  arm.set_report_tau_or_i(...)
  arm.set_self_collision_detection(...)
  arm.set_collision_tool_model(...)
  arm.clean_conf()
  arm.save_conf()

• Gripper/Gripper G2

  arm.set_gripper_enable(...)
  arm.set_gripper_mode(...)
  arm.set_gripper_speed(...)
  arm.set_gripper_position(...)
  arm.get_gripper_position()
  arm.get_gripper_err_code()
  arm.clean_gripper_error()
  # only Gripper G2arm.get_gripper_g2_position()
  arm.set_gripper_g2_position(...)

• BIO Gripper

  arm.set_bio_gripper_enable(...)
  arm.set_bio_gripper_speed(...)
  arm.open_bio_gripper(...)
  arm.close_bio_gripper(...)
  arm.get_bio_gripper_status()
  arm.get_bio_gripper_error()
  arm.clean_bio_gripper_error()
  # only BIO Gripper G2arm.get_bio_gripper_g2_position()
  arm.set_bio_gripper_g2_position(...)

• RobotIQ Gripper

  arm.robotiq_reset()
  arm.robotiq_set_activate(...)
  arm.robotiq_set_position(...)
  arm.robotiq_open(...)
  arm.robotiq_close(...)
  arm.robotiq_get_status(...)

• Modbus of the RS485

  arm.set_rs485_timeout(...)
  arm.get_rs485_timeout(...)
  arm.set_rs485_baudrate(...)
  arm.get_rs485_baudrate(...)
  arm.set_rs485_data(...)

• GPIO

  # Tool GPIOarm.get_tgpio_digital(...)
  arm.set_tgpio_digital(...)
  arm.get_tgpio_analog(...)
  arm.set_tgpio_digital_with_xyz(...)
  # Controller GPIOarm.get_cgpio_digital(...)
  arm.get_cgpio_analog(...)
  arm.set_cgpio_digital(...)
  arm.set_cgpio_analog(...)
  arm.set_cgpio_digital_input_function(...)
  arm.set_cgpio_digital_output_function(...)
  arm.get_cgpio_state()
  arm.set_cgpio_digital_with_xyz(...)
  arm.set_cgpio_analog_with_xyz(...)

• Linear Motor

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

• FT Sensor

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

• Other

  arm.set_pause_time(...)
  arm.system_control(...)
  arm.clean_error()
  arm.clean_warn()
  arm.set_counter_reset()
  arm.set_counter_increase(...)

• Register/Release

  arm.register_report_callback(...)
  arm.register_report_location_callback(...)
  arm.register_connect_changed_callback(callback)
  arm.register_state_changed_callback(callback)
  arm.register_mode_changed_callback(callback)
  arm.register_mtable_mtbrake_changed_callback(callback)
  arm.register_error_warn_changed_callback(callback)
  arm.register_cmdnum_changed_callback(callback)
  arm.register_temperature_changed_callback(callback)
  arm.register_count_changed_callback(callback)
  arm.release_report_callback(callback)
  arm.release_report_location_callback(callback)
  arm.release_connect_changed_callback(callback)
  arm.release_state_changed_callback(callback)
  arm.release_mode_changed_callback(callback)
  arm.release_mtable_mtbrake_changed_callback(callback)
  arm.release_error_warn_changed_callback(callback)
  arm.release_cmdnum_changed_callback(callback)
  arm.release_temperature_changed_callback(callback)
  arm.release_count_changed_callback(callback)

• Property

  arm.connectedarm.default_is_radianarm.versionarm.positionarm.last_used_positionarm.tcp_speed_limitarm.tcp_acc_limitarm.last_used_tcp_speedarm.last_used_tcp_accarm.anglesarm.joint_speed_limitarm.joint_acc_limitarm.last_used_anglesarm.last_used_joint_speedarm.last_used_joint_accarm.tcp_offsetarm.statearm.modearm.joints_torquearm.tcp_loadarm.collision_sensitivityarm.teach_sensitivityarm.motor_brake_statesarm.motor_enable_statesarm.has_err_warnarm.has_errorarm.has_warnarm.error_codearm.warn_codearm.cmd_numarm.device_typearm.axisarm.gravity_directionarm.gpio_reset_configarm.countarm.temperaturesarm.voltagesarm.currentsarm.cgpio_states