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Examples

1. airbot_examples

Examples for AIRBOT Python SDK.

The examples are shipped with the AIRBOT Python SDK and can directly run on the command line. Running examples would require package airbot_py to be installed.

After launching the AIRBOT driver serivice (see step 1 and step 2 of introduction), the examples can be run with the following command:

python3 -m airbot_examples.<example_name> --port <port>

Available arguments for each examples could be examined by

python3 -m airbot_examples.<example_name> --help

Modules:

Name Description
app_load

Example of loading an internal app
app_unload

Example of unloading an internal app
get_end_pose

Example of getting end effector pose.
get_joint_pos

Example of getting joint position.
get_params

Example of getting joint position.
move_cart_pose

Example of moving the robot arm to a specified cartesian pose.
move_joint_pos

Example of moving the robot to a joint position
move_with_cart_waypoints

Example of moving the robot arm with waypoints.
move_with_joint_waypoints

Example of moving the robot arm with waypoints.
servo_cart_pose

Example of sending continuous cartesian pose commands to the robot arm.
servo_cart_twist

Example of sending continuous cartesian twist commands to the robot arm.
servo_joint_pos

Example of sending continuous joint position commands to the robot arm.
set_speed_profile

Example of sending continuous joint position commands to the robot arm.
switch_mode

Example of switching control mode.
task_follow

Make one arm follow the movement of another arm.
task_kbd_ctrl

Example application of controlling the robot arm using keyboard input.
task_swing

Example application: making the robot arm swing in a sinusoidal motion in joint space.
task_wipe

Example application: making the robot arm swing in a sinusoidal motion in cartesian space.
test_multiple_moves

Example of moving the robot to a joint position

1.1 airbot_examples.app_load

Example of loading an internal app

Functions:

Name Description
app_load

Load app according to the given app name

1.1.1 airbot_examples.app_load.app_load()

Load app according to the given app name

Source code in airbot_examples/app_load.py 
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def app_load():
    """
    Load app according to the given app name
    """

    import argparse

    from airbot_py.arm import AIRBOTPlay

    parser = argparse.ArgumentParser(description="Load app example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        # Load record & replay app
        robot.load_app("record_replay_app/record_replay_app::RecordReplayApp")

1.2 airbot_examples.app_unload

Example of unloading an internal app

Functions:

Name Description
app_unload

Unload app according to the given app name

1.2.1 airbot_examples.app_unload.app_unload()

Unload app according to the given app name

Source code in airbot_examples/app_unload.py 
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def app_unload():
    """
    Unload app according to the given app name
    """
    import argparse

    from airbot_py.arm import AIRBOTPlay

    parser = argparse.ArgumentParser(description="Load app example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        robot.unload_app()

1.3 airbot_examples.get_end_pose

Example of getting end effector pose.

The end effector pose along with robot state and control mode will be printed.

Functions:

Name Description
get_end_pose

Get end effector pose

1.3.1 airbot_examples.get_end_pose.get_end_pose()

Get end effector pose

Source code in airbot_examples/get_end_pose.py 
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def get_end_pose():
    """
    Get end effector pose
    """
    import argparse
    import time

    from airbot_py.arm import AIRBOTPlay

    parser = argparse.ArgumentParser(description="Get arm infomation example 2")
    parser.add_argument(
        "-f",
        "--freq",
        type=int,
        default=10,
        help="Frequency of printing joint positions",
    )
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    args = parser.parse_args()

    idx = 0
    with AIRBOTPlay(port=args.port) as robot:
        product_info = robot.get_product_info()
        print("---------------------------------------------------------")
        print(f"Product name: {product_info['product_type']}")
        print(f"Serial number: {product_info['sn']}")
        print(f"Simulation mode: {product_info['is_sim']}")
        print(f"Using interfaces: {product_info['interfaces']}")
        print(f"Installed end effectors: {product_info['eef_types']}")

        while True:
            ####################################################
            # Get joint position and end effector position start
            pose = robot.get_end_pose()
            # Get joint position and end effector position end
            ####################################################
            if idx % args.freq == 0:
                server_state = robot.get_state().name
                control_mode = robot.get_control_mode().name
                print("---------------------------------------------------------")
                print(f"Server state: {server_state}")
                print(f"Control mode: {control_mode}")
                print(
                    "".join(
                        [f"{i:>8s}" for i in ["x", "y", "z", "qx", "qy", "qz", "qw"]]
                    )
                )
                print("---------------------------------------------------------")
            print(
                (
                    "".join([f"{i:+8.2f}" for i in pose[0]])
                    if pose is not None
                    else "Not received yet"
                ),
                end="",
            )
            print("".join([f"{i:+8.2f}" for i in pose[1]]) if pose is not None else "")
            time.sleep(1 / args.freq)
            idx += 1

1.4 airbot_examples.get_joint_pos

Example of getting joint position.

The joint position along with robot state and control mode will be printed.

Functions:

Name Description
get_joint_pos

Get joint position

1.4.1 airbot_examples.get_joint_pos.get_joint_pos()

Get joint position

Source code in airbot_examples/get_joint_pos.py 
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def get_joint_pos():
    """
    Get joint position
    """
    import argparse
    import math
    import time

    from airbot_py.arm import AIRBOTPlay

    parser = argparse.ArgumentParser(description="Get arm infomation example 1")
    parser.add_argument(
        "-f",
        "--freq",
        type=int,
        default=10,
        help="Frequency of printing joint positions",
    )
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "--radian",
        action="store_true",
        help="Print joint positions in radians instead of degrees",
    )
    args = parser.parse_args()

    idx = 0
    with AIRBOTPlay(port=args.port) as robot:
        product_info = robot.get_product_info()
        print("---------------------------------------------------------")
        print(f"Product name: {product_info['product_type']}")
        print(f"Serial number: {product_info['sn']}")
        print(f"Simulation mode: {product_info['is_sim']}")
        print(f"Using interfaces: {product_info['interfaces']}")
        print(f"Installed end effectors: {product_info['eef_types']}")

        while True:
            ####################################################
            # Get joint position and end effector position start
            pos = robot.get_joint_pos()
            eef_pos = robot.get_eef_pos()
            # Get joint position and end effector position end
            ####################################################
            if idx % args.freq == 0:
                server_state = robot.get_state().name
                control_mode = robot.get_control_mode().name
                print(
                    "----------------------------------------------------------------"
                )
                print(f"Server state: {server_state}")
                print(f"Control mode: {control_mode}")
                print(
                    " ".join([f"{'joint':>7s}{i+1}" for i in range(6)])
                    + f"{'end eff':>10s}"
                )
                print(
                    "----------------------------------------------------------------"
                )
            print(
                (
                    ", ".join(
                        [
                            (
                                f"{i / math.pi * 180:+7.2f}°"
                                if not args.radian
                                else f"{i:7.2f}"
                            )
                            for i in pos
                        ]
                    )
                    if pos is not None
                    else "None received yet"
                ),
                end="",
            )
            print(
                f"{eef_pos[0] * 100:8.2f} cm"
                if eef_pos is not None and len(eef_pos) > 0
                else ""
            )
            time.sleep(1 / args.freq)
            idx += 1

1.5 airbot_examples.get_params

Example of getting joint position.

The joint position along with robot state and control mode will be printed.

Functions:

Name Description
get_joint_pos

Get joint position

1.5.1 airbot_examples.get_params.get_joint_pos()

Get joint position

Source code in airbot_examples/get_params.py 
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def get_joint_pos():
    """
    Get joint position
    """
    import argparse
    import math
    import time

    from airbot_py.arm import MODE_NAMES, STATE_NAMES, AIRBOTPlay

    parser = argparse.ArgumentParser(description="Get arm infomation example 1")
    parser.add_argument(
        "-f",
        "--freq",
        type=int,
        default=10,
        help="Frequency of printing joint positions",
    )
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "--radian",
        action="store_true",
        help="Print joint positions in radians instead of degrees",
    )
    args = parser.parse_args()

    with AIRBOTPlay(port=args.port) as robot:
        print(robot.get_params([]))

1.6 airbot_examples.move_cart_pose

Example of moving the robot arm to a specified cartesian pose.

Functions:

Name Description
move_cart_pose

Example of moving the robot arm to a specified cartesian pose.

1.6.1 airbot_examples.move_cart_pose.move_cart_pose()

Example of moving the robot arm to a specified cartesian pose.

Source code in airbot_examples/move_cart_pose.py 
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def move_cart_pose():
    """
    Example of moving the robot arm to a specified cartesian pose.
    """
    import argparse
    import json

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-t",
        "--translation",
        type=json.loads,
        help="Target translation in the cartesian space, a 3-float array",
        default=[0.45, 0.20, 0.45],
    )
    parser.add_argument(
        "-r",
        "--orientation",
        type=json.loads,
        help="Target orientation (in quarternion) in the cartesian space, a 4-float array",
        default=[0.0, 0.0, 0.0, 1.0],
    )
    parser.add_argument(
        "-e",
        "--end-pos",
        type=float,
        help="Target end effector position, a float",
        default=0.0,
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_POS)
        robot.move_eef_pos([args.end_pos])
        robot.move_to_cart_pose([args.translation, args.orientation])
        robot.set_speed_profile(SpeedProfile.DEFAULT)

1.7 airbot_examples.move_joint_pos

Example of moving the robot to a joint position

Functions:

Name Description
move_joint_pos

Move the robot to a joint position

1.7.1 airbot_examples.move_joint_pos.move_joint_pos()

Move the robot to a joint position

Source code in airbot_examples/move_joint_pos.py 
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def move_joint_pos():
    """
    Move the robot to a joint position
    """
    import argparse
    import json

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-j",
        "--joints",
        type=json.loads,
        help="Target joint positions, a 6-float array",
        default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    )
    parser.add_argument(
        "-e",
        "--end-pos",
        type=float,
        help="Target end effector position, a float",
        default=0.0,
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    args = parser.parse_args()

    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_POS)
        robot.move_eef_pos([args.end_pos])
        robot.move_to_joint_pos([float(i) for i in args.joints])
        robot.set_speed_profile(SpeedProfile.DEFAULT)

1.8 airbot_examples.move_with_cart_waypoints

Example of moving the robot arm with waypoints.

Functions:

Name Description
move_with_cart_waypoints

Example of moving the robot arm with waypoints..

1.8.1 airbot_examples.move_with_cart_waypoints.move_with_cart_waypoints()

Example of moving the robot arm with waypoints..

Source code in airbot_examples/move_with_cart_waypoints.py 
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def move_with_cart_waypoints():
    """
    Example of moving the robot arm with waypoints..
    """
    import argparse
    import json

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Waypoints example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-w",
        "--cart-waypoints",
        type=json.loads,
        help="Target waypoints as an array",
        default=[
            [[0.46, 0.0, 0.36], [0.0, 0.0, 0.0, 1.0]],
            [[0.46, 0.1, 0.26], [0.0, 0.0, 0.0, 1.0]],
            [[0.46, 0.0, 0.16], [0.0, 0.0, 0.0, 1.0]],
            [[0.46, -0.1, 0.26], [0.0, 0.0, 0.0, 1.0]],
        ],
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    parser.add_argument(
        "--path",
        action="store_true",
        help="Execute path without planning",
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        if args.path:
            robot.switch_mode(RobotMode.PLANNING_WAYPOINTS_PATH)
        else:
            robot.switch_mode(RobotMode.PLANNING_WAYPOINTS)
        robot.move_with_cart_waypoints(args.cart_waypoints)
        robot.set_speed_profile(SpeedProfile.DEFAULT)

1.9 airbot_examples.move_with_joint_waypoints

Example of moving the robot arm with waypoints.

Functions:

Name Description
move_with_waypoints_path

Example of moving the robot arm with waypoints..

1.9.1 airbot_examples.move_with_joint_waypoints.move_with_waypoints_path()

Example of moving the robot arm with waypoints..

Source code in airbot_examples/move_with_joint_waypoints.py 
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def move_with_waypoints_path():
    """
    Example of moving the robot arm with waypoints..
    """
    import argparse
    import json

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Waypoints example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-w",
        "--joint-waypoints",
        type=json.loads,
        help="Target translation in the cartesian space, a 3-float array",
        default=[
            [0.37, -0.6, 0.5, 0.132, -0.30, -0.13],
            [0.2, -2.0, 2.0, 0.0, 0.01, 0.0],
            [0.2, 0.1, 0.3, 0.0, 0.01, 0.0],
            [-0.2, 0.15, 0.0, 0.0, 0.01, 0.0],
        ],
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_WAYPOINTS)
        robot.move_with_joint_waypoints(args.joint_waypoints)
        robot.set_speed_profile(SpeedProfile.DEFAULT)

1.10 airbot_examples.servo_cart_pose

Example of sending continuous cartesian pose commands to the robot arm.

Functions:

Name Description
servo_cart_pose

Example of sending continuous cartesian pose commands to the robot arm.

1.10.1 airbot_examples.servo_cart_pose.servo_cart_pose()

Example of sending continuous cartesian pose commands to the robot arm.

Source code in airbot_examples/servo_cart_pose.py 
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def servo_cart_pose():
    """
    Example of sending continuous cartesian pose commands to the robot arm.
    """

    import argparse
    import json
    import time

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-t",
        "--translation",
        type=json.loads,
        help="Target translation in the cartesian space, a 3-float array",
        default=[0.45, 0.20, 0.45],
    )
    parser.add_argument(
        "-r",
        "--orientation",
        type=json.loads,
        help="Target orientation (in quarternion) in the cartesian space, a 4-float array",
        default=[0.0, 0.0, 0.0, 1.0],
    )
    parser.add_argument(
        "-e",
        "--end-pos",
        type=float,
        help="Target end effector position, a float",
        default=0.0,
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.SERVO_CART_POSE)
        try:
            while True:
                robot.servo_cart_pose([args.translation, args.orientation])
                robot.servo_eef_pos([args.end_pos])
                time.sleep(0.01)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.11 airbot_examples.servo_cart_twist

Example of sending continuous cartesian twist commands to the robot arm.

Functions:

Name Description
servo_cart_twist

Example of sending continuous cartesian twist commands to the robot arm.

1.11.1 airbot_examples.servo_cart_twist.servo_cart_twist()

Example of sending continuous cartesian twist commands to the robot arm.

Source code in airbot_examples/servo_cart_twist.py 
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def servo_cart_twist():
    """
    Example of sending continuous cartesian twist commands to the robot arm.
    """

    import argparse
    import json
    import time

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-t",
        "--translation",
        type=json.loads,
        help="Target translation in the cartesian space, a 3-float array",
        default=[1.0, 0.0, 1.0],
    )
    parser.add_argument(
        "-r",
        "--rotation",
        type=json.loads,
        help="Target rotation in the cartesian space, a 3-float array",
        default=[0.0, 0.0, 0.0],
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )

    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.SERVO_CART_TWIST)
        try:
            while True:
                robot.servo_cart_twist([args.translation, args.rotation])
                time.sleep(0.01)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.12 airbot_examples.servo_joint_pos

Example of sending continuous joint position commands to the robot arm.

Functions:

Name Description
servo_joint_pos

Example of sending continuous joint position commands to the robot arm.

1.12.1 airbot_examples.servo_joint_pos.servo_joint_pos()

Example of sending continuous joint position commands to the robot arm.

Source code in airbot_examples/servo_joint_pos.py 
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def servo_joint_pos():
    """
    Example of sending continuous joint position commands to the robot arm.
    """

    import argparse
    import json
    import time

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-j",
        "--joints",
        type=json.loads,
        help="Target joint positions, a 6-float array",
        default=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
    )

    parser.add_argument(
        "-e",
        "--end-pos",
        type=float,
        help="Target end effector position, a float",
        default=0.0,
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )
    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.SERVO_JOINT_POS)
        try:
            while True:
                pos = [float(i) for i in args.joints]
                import math

                pos[4] += math.sin(time.time_ns() / 1e9 * 2 * math.pi / 2)
                robot.servo_joint_pos(pos)
                robot.servo_eef_pos([args.end_pos])
                time.sleep(0.01)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.13 airbot_examples.set_speed_profile

Example of sending continuous joint position commands to the robot arm.

Functions:

Name Description
set_speed_profile

Example of sending continuous joint position commands to the robot arm.

1.13.1 airbot_examples.set_speed_profile.set_speed_profile()

Example of sending continuous joint position commands to the robot arm.

Source code in airbot_examples/set_speed_profile.py 
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def set_speed_profile():
    """
    Example of sending continuous joint position commands to the robot arm.
    """

    import argparse
    import time

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )
    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_POS)
        try:
            robot.move_to_joint_pos([0, 0, 0, 0, 0, 0])
            time.sleep(1)
            robot.move_to_joint_pos([0, -2, 2, 0, 1, 0])
            time.sleep(1)
            robot.move_to_joint_pos([0, 0, 0, 0, 0, 0])
            time.sleep(1)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.14 airbot_examples.switch_mode

Example of switching control mode.

Functions:

Name Description
switch_mode

Switch control mode according to the given mode

1.14.1 airbot_examples.switch_mode.switch_mode()

Switch control mode according to the given mode

Source code in airbot_examples/switch_mode.py 
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def switch_mode():
    """
    Switch control mode according to the given mode
    """

    import argparse

    from airbot_py.arm import AIRBOTPlay, RobotMode

    parser = argparse.ArgumentParser(description="Switch control mode example")
    parser.add_argument(
        "-m",
        "--mode",
        type=str,
        choices=[
            "planning_pos",
            "planning_waypoints_pos",
            "servo_joint_pos",
            "servo_joint_vel",
            "servo_cart_pose",
            "servo_cart_twist",
            "gravity_comp",
        ],
        default="planning_pos",
        help="control mode to switch",
    )
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    args = parser.parse_args()

    with AIRBOTPlay(port=args.port) as robot:
        if args.mode == "planning_pos":
            robot.switch_mode(RobotMode.PLANNING_POS)
            print("Entered planning position mode")
        elif args.mode == "planning_waypoints_pos":
            robot.switch_mode(RobotMode.PLANNING_WAYPOINTS_POS)
            print("Entered planning waypointss mode")
        elif args.mode == "servo_joint_pos":
            robot.switch_mode(RobotMode.SERVO_JOINT_POS)
            print("Entered servo joint position mode")
        elif args.mode == "servo_joint_vel":
            raise RuntimeError("Servo joint velocity mode is not supported yet")
            # robot.switch_mode(RobotMode.SERVO_JOINT_VEL)
            # print("Entered servo joint velocity mode.")
        elif args.mode == "servo_cart_pose":
            robot.switch_mode(RobotMode.SERVO_CART_POSE)
            print("Entered servo cartesian pose mode.")
        elif args.mode == "servo_cart_twist":
            robot.switch_mode(RobotMode.SERVO_CART_TWIST)
            print("Entered servo cartesian twist mode.")
        elif args.mode == "gravity_comp":
            robot.switch_mode(RobotMode.GRAVITY_COMP)
            print("Entered gravity compensation mode.")
            print(
                "\x1b[1;32mGravity compensation mode. You can drag the end of the robot arm freely now.\x1b[0m"
            )
        else:
            print("Invalid mode")

1.15 airbot_examples.task_follow

Make one arm follow the movement of another arm.

Functions:

Name Description
follow

Follow the lead robot arm

1.15.1 airbot_examples.task_follow.follow()

Follow the lead robot arm

Source code in airbot_examples/task_follow.py 
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def follow():
    """
    Follow the lead robot arm
    """
    import argparse
    import time

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Switch control mode example")
    parser.add_argument(
        "--lead-port", type=int, default=50051, help="Server port for arm to lead"
    )
    parser.add_argument(
        "--follow-port", type=int, default=50052, help="Server port for arm to follow"
    )

    args = parser.parse_args()
    if args.lead_port == args.follow_port:
        raise ValueError(
            "Lead port and follow port cannot be the same. Please use different ports."
        )

    with AIRBOTPlay(
        port=args.lead_port,
    ) as robot1, AIRBOTPlay(
        port=args.follow_port,
    ) as robot2:
        robot1.switch_mode(RobotMode.PLANNING_POS)
        if (
            sum(
                [
                    abs(i - j)
                    for i, j in zip(robot1.get_joint_pos(), robot2.get_joint_pos())
                ]
            )
            > 0.1
        ):
            robot2.switch_mode(RobotMode.PLANNING_POS)
            robot2.move_to_joint_pos(robot1.get_joint_pos())
            time.sleep(1)
        print("Lead robot arm is ready to follow.")
        robot1.switch_mode(RobotMode.GRAVITY_COMP)
        robot2.switch_mode(RobotMode.SERVO_JOINT_POS)
        robot2.set_speed_profile(SpeedProfile.FAST)
        try:
            while True:
                robot2.servo_joint_pos(robot1.get_joint_pos())
                robot2.servo_eef_pos(robot1.get_eef_pos() or [])
                time.sleep(0.01)
        finally:
            robot1.switch_mode(RobotMode.PLANNING_POS)
            robot2.switch_mode(RobotMode.PLANNING_POS)
            robot2.set_speed_profile(SpeedProfile.DEFAULT)

1.16 airbot_examples.task_kbd_ctrl

Example application of controlling the robot arm using keyboard input.

Functions:

Name Description
task_kbd_ctrl

Example application of controlling the robot arm using keyboard input.

1.16.1 airbot_examples.task_kbd_ctrl.task_kbd_ctrl()

Example application of controlling the robot arm using keyboard input.

Source code in airbot_examples/task_kbd_ctrl.py 
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def task_kbd_ctrl():
    """
    Example application of controlling the robot arm using keyboard input.
    """
    import argparse
    import curses
    import math
    import time

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-T",
        "--duration",
        type=float,
        default=10.0,
        help="Duration of the swing in seconds",
    )

    args = parser.parse_args()

    def main(stdscr):
        stdscr.nodelay(True)
        state = 1
        speed_profile = SpeedProfile.SLOW
        with AIRBOTPlay(port=args.port) as robot:
            robot.switch_mode(RobotMode.SERVO_CART_TWIST)
            robot.set_speed_profile(speed_profile)
            speed = 10
            try:
                while True:
                    key = stdscr.getch()
                    if key != -1:
                        if key == ord("\n"):
                            if speed_profile == SpeedProfile.SLOW:
                                speed_profile = SpeedProfile.DEFAULT
                            elif speed_profile == SpeedProfile.DEFAULT:
                                speed_profile = SpeedProfile.SLOW
                            robot.set_speed_profile(speed_profile)
                        if key == ord(" "):
                            if state == 1:
                                robot.switch_mode(RobotMode.SERVO_JOINT_VEL)
                                state = 0
                            elif state == 0:
                                robot.switch_mode(RobotMode.SERVO_CART_TWIST)
                                state = 1
                        if state == 0:
                            if key == ord("1"):
                                robot.servo_joint_vel([speed, 0.0, 0.0, 0.0, 0.0, 0.0])
                            if key == ord("2"):
                                robot.servo_joint_vel([-speed, 0.0, 0.0, 0.0, 0.0, 0.0])
                            if key == ord("3"):
                                robot.servo_joint_vel([0.0, speed, 0.0, 0.0, 0.0, 0.0])
                            if key == ord("4"):
                                robot.servo_joint_vel([0.0, -speed, 0.0, 0.0, 0.0, 0.0])
                            if key == ord("5"):
                                robot.servo_joint_vel([0.0, 0.0, speed, 0.0, 0.0, 0.0])
                            if key == ord("6"):
                                robot.servo_joint_vel([0.0, 0.0, -speed, 0.0, 0.0, 0.0])
                            if key == ord("7"):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, speed, 0.0, 0.0])
                            if key == ord("8"):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, -speed, 0.0, 0.0])
                            if key == ord("9"):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, 0.0, speed, 0.0])
                            if key == ord("0"):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, 0.0, -speed, 0.0])
                            if key == ord("-"):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, 0.0, 0.0, speed])
                            if key == ord("="):
                                robot.servo_joint_vel([0.0, 0.0, 0.0, 0.0, 0.0, -speed])
                        elif state == 1:
                            if key == ord("a"):
                                robot.servo_cart_twist(
                                    [[0.0, +speed, 0.0], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("d"):
                                robot.servo_cart_twist(
                                    [[0.0, -speed, 0.0], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("w"):
                                robot.servo_cart_twist(
                                    [[+speed, 0.0, 0.0], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("s"):
                                robot.servo_cart_twist(
                                    [[-speed, 0.0, 0.0], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("q"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, +speed], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("e"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, -speed], [0.0, 0.0, 0.0]]
                                )
                            if key == ord("o"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [+speed, 0.0, 0.0]]
                                )
                            if key == ord("u"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [-speed, 0.0, 0.0]]
                                )
                            if key == ord("i"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [0.0, +speed, 0.0]]
                                )
                            if key == ord("k"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [0.0, -speed, 0.0]]
                                )
                            if key == ord("j"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [0.0, 0.0, +speed]]
                                )
                            if key == ord("l"):
                                robot.servo_cart_twist(
                                    [[0.0, 0.0, 0.0], [0.0, 0.0, -speed]]
                                )
                        if key == ord("\t"):
                            robot.switch_mode(RobotMode.PLANNING_POS)
                            robot.move_to_joint_pos(
                                [
                                    0.0,
                                    10 / 360.0 * 2 * math.pi,
                                    -5 / 360.0 * 2 * math.pi,
                                    -90 / 360.0 * 2 * math.pi,
                                    0.0,
                                    90 / 360.0 * 2 * math.pi,
                                ]
                            )
                            time.sleep(0.5)
                            robot.switch_mode(RobotMode.SERVO_CART_TWIST)
                            state = 1
                    if key == ord("["):
                        robot.servo_eef_pos([0.00])
                    if key == ord("]"):
                        robot.servo_eef_pos([0.07])
                    if key == ord("z"):  # 按 'q' 退出
                        break
            finally:
                robot.set_speed_profile(SpeedProfile.DEFAULT)

    curses.wrapper(main)

1.17 airbot_examples.task_swing

Example application: making the robot arm swing in a sinusoidal motion in joint space.

Functions:

Name Description
task_swing

Make the robot arm swing in a sinusoidal motion in joint space.

1.17.1 airbot_examples.task_swing.task_swing()

Make the robot arm swing in a sinusoidal motion in joint space.

Source code in airbot_examples/task_swing.py 
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def task_swing():
    """
    Make the robot arm swing in a sinusoidal motion in joint space.
    """

    import argparse
    import math
    import time

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-T",
        "--duration",
        type=float,
        default=10.0,
        help="Duration of the swing in seconds",
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )
    args = parser.parse_args()

    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_POS)
        robot.move_to_joint_pos([0, -math.pi / 4, math.pi / 4, 0.0, 0.0, 0.0])
        time.sleep(0.5)
        robot.switch_mode(RobotMode.SERVO_JOINT_POS)
        start = time.time_ns()
        try:
            while True:
                timed_coef = math.sin(
                    (time.time_ns() - start - 0.5 * 1e9)
                    / 1e9
                    * 2
                    * math.pi
                    / args.duration
                )
                joint_pos = [
                    math.pi / 2 * timed_coef,
                    -math.pi / 4 - math.pi / 4 * timed_coef,
                    math.pi / 4 + math.pi / 4 * timed_coef,
                    0,
                    0,
                    0,
                ]
                robot.servo_joint_pos(joint_pos)
                robot.servo_eef_pos([(1 - timed_coef) * 0.07 / 2])
                time.sleep(0.01)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.18 airbot_examples.task_wipe

Example application: making the robot arm swing in a sinusoidal motion in cartesian space.

Functions:

Name Description
task_wipe

Example application: making the robot arm swing in a sinusoidal motion in joint space.

1.18.1 airbot_examples.task_wipe.task_wipe()

Example application: making the robot arm swing in a sinusoidal motion in joint space.

Source code in airbot_examples/task_wipe.py 
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def task_wipe():
    """
    Example application: making the robot arm swing in a sinusoidal motion in joint space.
    """

    import argparse
    import json
    import math
    import time

    print(
        "\x1b[1;33mThe robot arm is about to be move. Please make sure no obstacles exist in the surrounding environment.\x1b[0m"
    )
    input("\x1b[1;35mPress Enter to continue...\x1b[0m")
    print("\x1b[1;32mPress Ctrl+C to stop...\x1b[0m")

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    parser = argparse.ArgumentParser(description="Servo example")
    parser.add_argument(
        "-p", "--port", type=int, default=50051, help="Port to connect to the server"
    )
    parser.add_argument(
        "-T",
        "--duration",
        type=float,
        default=2.0,
        help="Duration of the swing in seconds",
    )
    parser.add_argument(
        "-S",
        "--speed",
        choices=["slow", "fast", "default"],
        default="default",
        help="Speed profile for the robot arm",
    )
    args = parser.parse_args()
    with AIRBOTPlay(port=args.port) as robot:
        if args.speed == "slow":
            robot.set_speed_profile(SpeedProfile.SLOW)
        elif args.speed == "fast":
            robot.set_speed_profile(SpeedProfile.FAST)
        else:
            robot.set_speed_profile(SpeedProfile.DEFAULT)
        robot.switch_mode(RobotMode.PLANNING_POS)
        robot.move_to_cart_pose([[0.35, 0.0, 0.50], [0, 0, 0, 1]])
        time.sleep(0.5)
        robot.switch_mode(RobotMode.SERVO_JOINT_POS)

        robot.switch_mode(RobotMode.SERVO_CART_POSE)
        start = time.time_ns()
        try:
            while True:
                now = time.time_ns() - start - 0.5 * 1e9
                pose = [
                    [
                        0.35,
                        0.15 * math.sin(now / 1e9 * 2 * math.pi / args.duration),
                        0.50,
                    ],
                    [0, 0, 0, 1],
                ]
                robot.servo_cart_pose(pose)
                robot.servo_eef_pos([0])
                time.sleep(0.01)
        finally:
            robot.set_speed_profile(SpeedProfile.DEFAULT)

1.19 airbot_examples.test_multiple_moves

Example of moving the robot to a joint position

Functions:

Name Description
move_joint_pos

Move the robot to a joint position

1.19.1 airbot_examples.test_multiple_moves.move_joint_pos()

Move the robot to a joint position

Source code in airbot_examples/test_multiple_moves.py 
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def move_joint_pos():
    """
    Move the robot to a joint position
    """
    import argparse
    import json

    from airbot_py.arm import AIRBOTPlay, RobotMode, SpeedProfile

    with AIRBOTPlay() as robot:
        print(robot.get_product_info())
        while True:
            robot.switch_mode(RobotMode.PLANNING_POS)
            robot.set_speed_profile(SpeedProfile.FAST)
            robot.move_eef_pos([0.035])
            robot.move_to_joint_pos([0, 0, 0, 0, 0, 0])
            robot.move_eef_pos([0.07])
            robot.move_to_joint_pos([0, 0, 0, 0, 1, 0])
            robot.move_eef_pos([0.035])
            robot.move_to_joint_pos([0, 0, 0, 0, -1, 0])
            robot.move_eef_pos([0.0])
            robot.move_to_joint_pos([0, 0, 0, 0, 0, 0])
            robot.set_speed_profile(SpeedProfile.DEFAULT)