Tutorial

Keyboard Control

After installing the airbot_py and starting the driver service, you can control the arm via keyboard input—handy for quick tests and demos.

Launch it with:

python3 -m airbot_examples.task_kbd_ctrl

This page lists the key mapping. Each key triggers a specific action or control mode.

Common Controls

Key	Action
Enter	Toggle between SLOW and DEFAULT speed modes
Space	Switch between SERVO_JOINT_VEL (joint-speed) 和 SERVO_CART_TWIST (Cartesian velocity) modes
Tab	Enter PLANNING_POS (Planned Position) mode and move to the starting pose
[	Close gripper
]	Open gripper
z	Quit program

Joint-Velocity Control（SERVO_JOINT_VEL mode）

In SERVO_JOINT_VEL mode the following keys command joint velocities:

Key	Action
1	Joint 1 positive (+vel)
2	Joint 1 negative (−vel)
3	Joint 2 positive (+vel)
4	Joint 2 negative (−vel)
5	Joint 3 positive (+vel)
6	Joint 3 negative (−vel)
7	Joint 4 positive (+vel)
8	Joint 4 negative (−vel)
9	Joint 5 positive (+vel)
0	Joint 5 negative (−vel)
-	Joint 6 positive (+vel)
=	Joint 6 negative (−vel)

Cartesian Velocity Control (SERVO_CART_TWIST mode)

In SERVO_CART_TWIST , the following keys control the robotic arm's movement in Cartesian space:

Key	Action
a	Move +Y (left) (+vel)
d	Move −Y (right) (−vel)
w	Move +X (forward) (+vel)
s	Move −X (backward) (−vel)
q	Move +Z (up) (+vel)
e	Move −Z (down) (−vel)
o	Rotate +X (+vel)
u	Rotate −X (−vel)
i	Rotate +Y (+vel)
k	Rotate −Y (−vel)
j	Rotate +Z (toward user) (+vel)
l	Rotate −Z (away from user) (−vel)

Safety Notes

• Clear the arm workspace before taking control.
• Press Ctrl+C at any time to stop the program.

Data Collection

Coming soon:

• Classic machine-vision block stacking (with hand-eye calibration)
• Imitation-learning block stacking (including data collection)

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