xarm_api

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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 radians

return: [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 interface set_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 interface set_servo_angle and the param angles of the interface set_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 param check_cmdnum_limit is 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]

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]

Three-point method teaches user coordinate system posture offset Note: 1. only available if firmware_version >= 1.6.9

Note: 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

: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 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: 015 or None(both 015), 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 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 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 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 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]

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 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 tool gpio version, only for debug

:return: (code, version) code: See the API Code Documentation for details.

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

:return: tuple((code, state)), only when code is 0, the returned result is correct. code: See the API Code Documentation for details. state: suction cup state 0: suction cup is off 1: suction cup 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.

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.

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

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

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

: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 the load_trajectory to 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

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

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 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.