xArm-Python-SDK/example/wrapper/common/0000-template.py at master · vimior/xArm-Python-SDK · GitHub

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#!/usr/bin/env python3

# Software License Agreement (BSD License)

# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>

"""

Description: this is just an example template

1. Instantiate XArmAPI and specify do_not_open to be true

2. Registration error callback function

3. Connect

4. Enable motion

5. Setting mode

6. Setting state

"""

import os

import sys

import time

sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI

#######################################################

"""

Just for test example

"""

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)

########################################################

def hangle_err_warn_changed(item):

print('ErrorCode: {}, WarnCode: {}'.format(item['error_code'], item['warn_code']))

# TODO：Do different processing according to the error code

arm = XArmAPI(ip, do_not_open=True)

arm.register_error_warn_changed_callback(hangle_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)

time.sleep(10)

arm.disconnect()

xArm-Python-SDK/example/wrapper/common/0000-template.py at master · vimior/xArm-Python-SDK · GitHub

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