xArm-Developer/xArm-Python-SDK

What it solves

This project provides a Python interface for controlling UFACTORY xArm robotic arms. It simplifies the process of sending movement commands, reading sensor data, and managing hardware configurations through a standard programming library, allowing developers to integrate the robotic arm into custom Python applications.

How it works

The SDK acts as a wrapper that communicates with the xArm hardware via its network or serial interface. By importing the XArmAPI class, developers can connect to the arm using its IP address or serial port. The library exposes a comprehensive set of methods to control joints, manage grippers, read force-torque sensors, and monitor the robot's status in real-time through callback functions.

Who it’s for

This SDK is designed for developers, engineers, and researchers who need to programmatically control xArm robotic hardware using Python. It is suitable for those building automation systems, custom trajectory planning, or robotic research projects.

Highlights

• Direct control over robot movement, including joint and Cartesian coordinate positioning.
• Built-in support for various end-effectors like standard grippers, BIO grippers, and vacuum grippers.
• Advanced features for force-torque sensor management, collision detection, and admittance control.
• Extensive event-driven architecture using callbacks to monitor robot state, errors, and temperature.
• Includes a wide library of code examples for common tasks like trajectory recording, Modbus TCP communication, and GPIO management.