def __init__(self, port, *args, **kwargs):
if port not in self._instances:
self._arm = XArmAPI(port, *args, **kwargs)
else:
instance = self._instances[port]
if not hasattr(instance, '_arm'):
instance._arm = XArmAPI(port, *args, **kwargs)
else:
self._arm = instance._arm
def connnect_thread(self, addr, report_type):
try:
self.addr = addr
self.xarm = XArmAPI(port=addr,
enable_heartbeat=True,
enable_report=True,
report_type=report_type, do_not_open=True)
self.xarm.register_maable_mtbrake_changed_callback(self.report_brake_callback)
self.xarm.register_state_changed_callback(self.report_state_callback)
self.xarm.register_connect_changed_callback(self.report_connected_callback)
self.xarm.register_report_location_callback(self.report_location_callback, report_cartesian=True, report_joints=True)
self.xarm.register_error_warn_changed_callback(self.report_warn_error_callback)
self.xarm.register_cmdnum_changed_callback(self.report_cmdnum_callback)
self.xarm.connect()
if not self.xarm.connected:
time.sleep(0.5)
# threading.Timer(1, self.init_robot).start()
self.report_type = report_type
return True
except Exception as e:
self.report_que.put({
'type': 'connect',
'item': {
'mainConnected': False,
'reportConnected': False
}
})
def initialiseArms(ip):
arm = XArmAPI(ip, do_not_open=True, is_radian=False)
arm.register_error_warn_changed_callback(handle_err_warn_changed)
arm.connect()
# enable motion
arm.motion_enable(enable=True)
# set mode: position control mode
arm.set_mode(0)
# set state: sport state
arm.set_state(state=0)
return arm
def __init__(self):
""" Virtually private constructor. """
if XArmWrapperSingleton.__instance is not None:
raise SingletonException("This class is a singleton!")
else:
self.params = {
'speed': 100,
'acc': 2000,
'angle_speed': 20,
'angle_acc': 500,
'events': {},
'variables': {},
'callback_in_thread': True,
'quit': False
}
XArmWrapperSingleton.__instance = self
self.arm = XArmAPI('192.168.1.229', do_not_open=True)
self.end_effector = ArduinoUdp('192.168.1.230')
self.arm_is_busy = False
self.arm.connect()
self.arm.clean_warn()
self.arm.clean_error()
self.blower(0)
self.vacuum_granular(0)
self.vacuum_solid(0)
print(self.move_granular(0))
print(self.move_syringe(0))
print(self.move_cylinder(0))
time.sleep(1)
self.arm.motion_enable(True)
self.arm.set_mode(0)
self.arm.set_state(0)
self.initial_position()
time.sleep(1)
self.arm.register_error_warn_changed_callback(
self.error_warn_change_callback)
self.arm.register_state_changed_callback(
self.state_changed_callback)
self.arm.register_report_location_callback(
self.location_change_callback)
if hasattr(self.arm, 'register_count_changed_callback'):
def count_changed_callback(data):
pprint('counter val: {}'.format(data['count']))
self.arm.register_count_changed_callback(
count_changed_callback)
self.arm.register_connect_changed_callback(
self.connect_changed_callback)
def xarm_init():
arm = XArmAPI("192.168.31.100")
time.sleep(0.5)
if arm.warn_code != 0:
arm.clean_warn()
if arm.error_code != 0:
arm.clean_error()
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
return arm
def __init__(self):
ip = '192.168.1.217'
self.arm = XArmAPI(ip, do_not_open=False)
self.arm.register_error_warn_changed_callback(self.hangle_err_warn_changed)
print('xArm Version: {}'.format(self.arm.version))
self.arm.motion_enable(enable=True)
self.arm.set_mode(0)
self.arm.set_state(state=0)
self.arm.set_state(state=0)
print('arm.last_used_tcp_acc:',self.arm.last_used_tcp_acc)
# self.arm.reset(wait=True)
self.xx_init = 422.4
self.yy_init = -216.9
self.zz_init = 30
self.tcp_roll = 17.8
self.tcp_pitch = 77.4
self.tcp_yaw = 47.3
self.init_pos()
self.zz_init_move = 100
self.zz_play = 0
self.hand = InspireHandR()
self.arm.set_tcp_jerk(10000)
def callback_connect_changed(item):
print('connect changed:', item)
def callback_error_warn_changed(item):
print('error warn changed:', item)
def callback_mtable_mtbrake_changed(item):
print('maable mtbrake changed:', item)
def callback_report_location(item):
print('location report:', item)
arm = XArmAPI('192.168.1.113', do_not_open=True)
arm.register_cmdnum_changed_callback(callback=callback_cmdnum_changed)
arm.register_state_changed_callback(callback=callback_state_changed)
arm.register_connect_changed_callback(callback=callback_connect_changed)
arm.register_error_warn_changed_callback(callback=callback_error_warn_changed)
arm.register_mtable_mtbrake_changed_callback(callback=callback_mtable_mtbrake_changed)
arm.register_report_location_callback(callback=callback_report_location)
arm.connect()
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
time.sleep(5)
arm.disconnect()
#
# Copyright (c) 2018, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
from xarm.core import ControllerError, ControllerWarn
xarm = XArmAPI('192.168.1.113', do_not_open=True, is_radian=False)
def hangle_err_warn_changed(item):
if item['error_code'] != 0:
controller_error = ControllerError(item['error_code'])
print('ControllerError[code: {}, desc: {}]'.format(
controller_error.code, controller_error.description))
if 10 <= item['error_code'] <= 17 or item['error_code'] == 28:
xarm.get_servo_debug_msg(show=True)
# TODO handle error
else:
pass
# TODO handle error
# # clean error
# xarm.clean_error()
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
"""
Move line(linear motion)
1. explicit setting is_radian=True, set the default unit is radians
set_position:
1. explicit setting wait=True to wait for the arm to complete
"""
xarm = XArmAPI('192.168.1.113', is_radian=True)
xarm.motion_enable(enable=True)
xarm.set_mode(0)
xarm.set_state(state=0)
xarm.reset(wait=True)
xarm.set_position(x=300,
y=0,
z=150,
roll=-3.1415926,
yaw=0,
pitch=0,
speed=100,
wait=True)
print(xarm.get_position())
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
"""
Example: Getting infomation
"""
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI(port='192.168.1.113')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
print('=' * 50)
print('version:', arm.get_version())
print('state:', arm.get_state())
print('cmdnum:', arm.get_cmdnum())
print('err_warn_code:', arm.get_err_warn_code())
print('position(°):', arm.get_position(is_radian=False))
print('position(radian):', arm.get_position(is_radian=True))
print('angles(°):', arm.get_servo_angle(is_radian=False))
print('angles(radian):', arm.get_servo_angle(is_radian=True))
print('angles(°)(servo_id=1):', arm.get_servo_angle(servo_id=1,
is_radian=False))
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
try:
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address[192.168.1.194]:')
if not ip:
ip = '192.168.1.194'
arm = XArmAPI(ip, check_robot_sn=False)
time.sleep(0.5)
if arm.warn_code != 0:
arm.clean_warn()
if arm.error_code != 0:
arm.clean_error()
print('set IO0 high level')
arm.set_tgpio_digital(0, 1)
time.sleep(2)
print('set IO1 high level')
arm.set_tgpio_digital(1, 1)
time.sleep(2)
print('set IO0 low level')
arm.set_tgpio_digital(0, 0)
print('set IO1 low level')
import sys
import os
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
'''
sys.path.append()将不在同一目录下模块的路径添加到程序中
os.path.join()将多个路径组合后返回
os.path.dirname(__file__)返回该脚本所在的完整路径
'''
from xarm.wrapper import XArmAPI
from voice_recognition import Msp
from voice_feedback import Voice_feedback
from pour_tea_01 import Pour_tea_01
from pour_tea_02 import Pour_tea_02
arm_left = XArmAPI('192.168.1.151')
arm_right = XArmAPI('192.168.1.209') # 连接控制器
arm_left.motion_enable(enable=True)
arm_right.motion_enable(enable=True) # 使能
arm_left.set_mode(0)
arm_right.set_mode(0) # 运动模式：位置控制模式
arm_left.set_state(state=0)
arm_right.set_state(state=0) # 运动状态：进入运动状态
voice = Msp()
voice_feedback = Voice_feedback()
pt_01 = Pour_tea_01(arm_left, arm_right)
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
import functools
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
from xarm.core.utils.log import logger
# logger.setLevel(logger.DEBUG)
xarm = XArmAPI(port='192.168.1.113',
enable_heartbeat=True,
enable_report=True,
report_type='normal',
is_radian=True)
xarm.motion_enable(True)
xarm.set_state(0)
xarm.clean_error()
xarm.set_state(0)
time.sleep(5)
# print(xarm.get_servo_angle())
# print(xarm.get_position(is_radian=False))
# print(time.time())
# print(xarm.get_position())
# print(xarm.get_servo_angle())
# print(xarm.is_tcp_limit([300, 0, 100, 180, 0, 0]))
print('connect changed:', item)
def callback_error_warn_changed(item):
print('error warn changed:', item)
def callback_maable_mtbrake_changed(item):
print('maable mtbrake changed:', item)
def callback_report_location(item):
print('location report:', item)
arm = XArmAPI(ip, do_not_open=True)
arm.register_cmdnum_changed_callback(callback=callback_cmdnum_changed)
arm.register_state_changed_callback(callback=callback_state_changed)
arm.register_connect_changed_callback(callback=callback_connect_changed)
arm.register_error_warn_changed_callback(callback=callback_error_warn_changed)
arm.register_mtable_mtbrake_changed_callback(
callback=callback_maable_mtbrake_changed)
arm.register_report_location_callback(callback=callback_report_location)
arm.connect()
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
time.sleep(20)
arm.disconnect()
"t": letters_v3.T,
"u": letters_v3.U,
"v": letters_v3.V,
"w": letters_v3.W,
"x": letters_v3.X,
"y": letters_v3.Y,
"z": letters_v3.Z,
" ": letters_v3.space,
"Invalid": letters_v3.Invalid
}
arm = "dummy"
connected = False
while not connected:
try:
arm = XArmAPI('172.21.72.250', do_not_open=True)
arm.connect()
connected = True
except:
print("arm is not online. trying again in 3 seconds...")
time.sleep(3)
# arm.set_world_offset([0, 0, 0, 0, 0, 0])
arm.set_world_offset([0, 0, 0, 180, 0.6, -150.8])
time.sleep(0.5)
print(arm.position)
time.sleep(1)
arm.motion_enable(enable=True)
arm.set_mode(0)
#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
"""
Example: Connect the robot arm through the serial port
Note: Need to use a dedicated 485 cable to connect the PC to the control box
"""
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI('COM5')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
time.sleep(5)
arm.disconnect()
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
try:
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address[192.168.1.196]:')
if not ip:
ip = '192.168.1.196'
# arm = XArmAPI(ip)
arm = XArmAPI('192.168.1.196')
arm.motion_enable(True)
arm.clean_error()
arm.set_mode(0)
arm.set_state(0)
time.sleep(1)
code = arm.set_linear_track_back_origin(wait=True)
print('set linear track back origin, code={}'.format(code))
# status = 1 is go back on zero successful,
code, status = arm.get_linear_track_on_zero()
print('get linear track on zero point, code={}, status={}'.format(code, status))
code = arm.set_linear_track_enable(True)
print('set linear track enable, code={}'.format(code))
#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Author: Liuyaxin <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI('192.168.1.209')
# arm = XArmAPI('192.168.1.151')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
# arm.reset(wait=True)
arm.set_position(x=214.1,
y=18.9,
z=101.6,
roll=-117.6,
pitch=88.8,
yaw=-27.5,
speed=50,
is_radian=False,
wait=True)
# arm.set_position(x=223.9, y=18.9, z=101.6, roll=-117.6, pitch=88.8, yaw=-27.5, speed=50, is_radian=False, wait=True)
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI('192.168.1.201')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
time.sleep(1)
# arm.set_state(4)
offset1 = [100, 0, 0, 0, 0, 0]
offset2 = [150, 0, 0, 0, 0, 0]
arm.set_position(207, 0, 112, 180, 0, 0, wait=True, is_radian=False)
arm.set_tcp_offset(offset=offset1)
arm.save_conf()
time.sleep(1)
print(arm.get_position())
arm.set_tcp_offset(offset=offset2)
arm.save_conf()
print(arm.get_position())
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.reset(wait=True)
speed = 50
arm.set_servo_angle(angle=[90, 0, 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(angle=[90, 0, -60, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(angle=[90, -30, -60, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(angle=[0, -30, -60, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip, enable_report=True)
arm.motion_enable(enable=True)
arm.ft_sensor_enable(0)
arm.clean_error()
arm.clean_warn()
arm.ft_sensor_enable(1)
time.sleep(0.5)
arm.ft_sensor_set_zero()
while arm.connected and arm.error_code == 0:
# ft_raw_force and ft_ext_force will update by reporting socket
print('raw_force: {}'.format(arm.ft_raw_force))
print('exe_force: {}'.format(arm.ft_ext_force))
# # get_ft_sensor_data() will get the last ext_force
import threading """ # xArm-Python-SDK: https://github.com/xArm-Developer/xArm-Python-SDK # git clone [email protected]:xArm-Developer/xArm-Python-SDK.git # cd xArm-Python-SDK # python setup.py install """ from xarm import version from xarm.wrapper import XArmAPI from xarm.core.utils.log import logger logger.setLevel(logger.VERBOSE) print('xArm-Python-SDK Version:{}'.format(version.__version__)) arm = XArmAPI('192.168.1.15', timed_comm=False) arm.clean_warn() arm.clean_error() arm.motion_enable(True) arm.set_mode(0) arm.set_state(0) time.sleep(1) params = { 'speed': 100, 'acc': 2000, 'angle_speed': 20, 'angle_acc': 500, 'events': {}, 'variables': {}, 'quit': False
#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
xarm = XArmAPI('192.168.1.113')
xarm.motion_enable(enable=True)
xarm.set_mode(0)
xarm.set_state(state=0)
time.sleep(5)
xarm.disconnect()
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
"""
Example: Getting attributes
"""
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
arm = XArmAPI(port='192.168.1.113', is_radian=False)
arm.motion_enable(enable=True)
arm.set_state(state=0)
print('=' * 50)
print('default_is_radian:', arm.default_is_radian)
print('version:', arm.version)
print('state:', arm.state)
print('cmdnum:', arm.cmd_num)
print('err_code:', arm.error_code)
print('warn_code:', arm.warn_code)
print('position(°):', arm.position)
print('angles(°):', arm.angles)
print('last_used_position:', arm.last_used_position)
print('last_used_angles:', arm.last_used_angles)
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
"""
Move joint,
1. explicit setting is_radian=False, set the default unit is degree (°) (not radian)
set_servo_angle:
1. explicit setting wait=True to wait for the arm to complete
"""
xarm = XArmAPI('192.168.1.113', is_radian=False)
xarm.motion_enable(enable=True)
xarm.set_mode(0)
xarm.set_state(state=0)
xarm.reset(wait=True)
xarm.set_servo_angle(angle=[60, 0, 0, 0, 0, 0, 0], speed=30, wait=True)
print(xarm.get_servo_angle(is_radian=False))
xarm.set_servo_angle(angle=[60, -45, 0, 0, 0, 0, 0], speed=30, wait=True)
print(xarm.get_servo_angle(is_radian=False))
xarm.set_servo_angle(angle=[60, -45, 0, -60, 0, 0, 0], speed=30, wait=True)
print(xarm.get_servo_angle(is_radian=False))
xarm.set_servo_angle(angle=[45, -45, -30, -60, 0, 0, 0], speed=30, wait=True)
print(xarm.get_servo_angle(is_radian=False))
xarm.set_servo_angle(angle=[-45, -45, 0, 0, 0, 0, 0], speed=30, wait=True)
# Camera pipelines
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
pipeline.start(config)
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
#xARM control Interface
arm = XArmAPI('192.168.1.244')
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
speed = 50
arm.set_servo_angle(angle=[0, 0, -10, 0, 0], speed=speed, wait=True)
# Camera pipelines
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 1280, 720, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
pipeline.start(config)
try:
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip, is_radian=True)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.reset(wait=True)
speed = 50
arm.set_servo_angle(servo_id=1,
angle=90,
speed=speed,
is_radian=False,
wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=2,
angle=-60,
#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
import functools
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from xarm.wrapper import XArmAPI
from xarm.core.utils.log import logger
# logger.setLevel(logger.DEBUG)
arm = XArmAPI(port='192.168.1.113',
enable_report=True,
report_type='rich',
is_radian=False)
print(arm.get_gpio_digital())
print(arm.get_gpio_analog())
arm.disconnect()