Settings

This page contains information on all functions present within settings.py and aims to give a clear understanding both of what these functions do and the requirements for any data to be input into them.

These functions will allow you to get and change the value of a variety of settings for the arm.

Functions

arm_settings

Source code in actions\settings.py

class arm_settings():
    def __init__(self, arm:XArmAPI):
        self.arm = arm

    def set_state(self, state=0):
        """
        Set the xArm state

        Args:
            state: default 0

                - 0: motion state

                - 3: pause state

                - 4: stop state

                - 6: deceleration stop state

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_state(state=state)

    def set_mode(self, mode=0, detection_param=0):
        """
        Set the xArm mode

        Args:
            mode: default 0

                0: position control

                1: servo motion

                Note: the use of the set_servo_angle_j interface must first be set to this

                Note: the use of the set_servo_cartesian interface must first be set to this

                2: joint teaching

                Note: use this mode to ensure that the arm has been identified and the control box and arm used for identification are one-to-one.

                3: cartesian teaching (invalid)

                4: joint velocity control

                5: cartesian velocity control

                6: joint online trajectory planning

                7: cartesian online trajectory planning

            detection_param: Teaching detection parameters, default is 0

                0: motion detection on

                1: motion detection off

                Note:

                1. only available if firmware_version >= 1.10.1

                2. only available if set_mode(2)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_mode(mode=mode, detection_param=detection_param)

    def motion_enable(self, enable=True, servo_id=None):
        """
        Enable motion

        Args:
            enable: True/False

            servo_id: 1-(Number of axes), None(8)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.motion_enable(servo_id=servo_id, enable=enable)

    def set_pause_time(self, sltime, wait=False):
        """
        Set the arm pause time, xArm will pause sltime second

        Args:
            sltime: sleep time,unit:(s)second

            wait: wait or not, default is False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_pause_time(sltime=sltime, wait=wait)

    def get_version(self):
        """
        Get the xArm firmware version

        Returns:
            out (tuple[int, str]): tuple((code, version)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            version (str): firmware version, such as '6,9, ,XX0000,v2.4.0'
        """
        return self.arm.get_version()

    def get_state(self):
        """
        Get state

        Returns:
            out (tuple[int, int]): tuple((code, state)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            state (int): state
                - 1: in motion
                - 2: sleeping
                - 3: suspended
                - 4: stopping
        """
        return self.arm.get_state()

    def get_is_moving(self):
        """
        Check if the arm is moving or not

        Returns:
            out (bool): True/False
        """
        return self.arm.get_is_moving()

    def get_cmdnum(self):
        """
        Get the cmd count in cache

        Returns:
            out (tuple[int, int]): tuple((code, cmd_num)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            cmd_num (int): command count in cache
        """
        return self.arm.get_cmdnum()

    def get_position(self, is_radian=None):
        """
        Get the cartesian position

        Note:
            1. If the value(roll/pitch/yaw) you want returned should be in radians, set is_radian to True
              ex: code, pos = arm.get_position(is_radian=True)

        Args:
            is_radian: if the returned value (only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, list]): tuple((code, [x, y, z, roll, pitch, yaw])), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.get_position(is_radian=is_radian)

    def get_servo_angle(self, servo_id=None, is_radian=None, is_real=False):
        """
        Get the servo angle

        Note:
            1. If the value you want returned should be in radians, set is_radian to True
              ex: code, angles = arm.get_servo_angle(is_radian=True)
            2. If you want to return only the angle of a single joint, please set the parameter servo_id
              ex: code, angle = arm.get_servo_angle(servo_id=2)
            3. This interface is only used in the base coordinate system.

        Args:
            servo_id: 1-(Number of axes), None(8), default is None

            is_radian: the returned value is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, list | float]): tuple((code, angle list if servo_id is None or 8 else angle)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.get_servo_angle(servo_id=servo_id, is_radian=is_radian, is_real=is_real)

    def get_position_aa(self, is_radian=None):
        """
        Get the pose represented by the axis angle pose

        Args:
            is_radian: if the returned value (only rx/ry/rz) is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, list]): tuple((code, [x, y, z, rx, ry, rz])), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.get_position_aa(is_radian=is_radian)

    def get_pose_offset(self, pose1, pose2, orient_type_in=0, orient_type_out=0, is_radian=None):
        """
        Calculate the pose offset of two given points

        Note:
            1. x, y, z are all in mm
            2. roll/rx, pitch/ry, yaw/rz are in either degrees or radians, can be selected by changing parameter is_radian

        Args:
            pose1: [x, y, z, roll/rx, pitch/ry, yaw/rz]

            pose2: [x, y, z, roll/rx, pitch/ry, yaw/rz]

            orient_type_in: input attitude notation, 0 is RPY(roll/pitch/yaw) (default), 1 is axis angle(rx/ry/rz)

            orient_type_out: notation of output attitude, 0 is RPY (default), 1 is axis angle

            is_radian: if the roll/rx/pitch/ry/yaw/rz of pose1/pose2/return_pose is in radians or not

        Returns:
            out (tuple[int, list]): tuple((code, pose)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            pose (list[float]): [x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]
        """
        return self.arm.get_pose_offset(pose1, pose2, orient_type_in=orient_type_in, orient_type_out=orient_type_out, is_radian=is_radian)

    def set_tcp_offset(self, offset, is_radian=None, wait=True, **kwargs):
        """
        Set the tool coordinate system offset at the end

        Note:
            1. Do not use if not required
            2. If not saved and you want to revert to the last saved value, please reset the offset by set_tcp_offset([0, 0, 0, 0, 0, 0])
            3. If not saved, it will be lost after reboot
            4. The save_conf interface can record the current settings and will not be lost after the restart.
            5. The clean_conf interface can restore system default settings

        Args:
            offset: [x, y, z, roll, pitch, yaw]

            is_radian: the roll/pitch/yaw in radians or not, defaults to self.default_is_radian

            wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_tcp_offset(offset, is_radian=is_radian, wait=wait, **kwargs)

    def set_tcp_jerk(self, jerk):
        """
        Set the translational jerk of Cartesian space

        Note:
            1. Do not use if not required
            2. If not saved, it will be lost after reboot
            3. The save_conf interface can record the current settings and will not be lost after the restart.
            4. The clean_conf interface can restore system default settings

        Args:
            jerk: jerk (mm/s^3)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_tcp_jerk(jerk)

    def set_tcp_maxacc(self, acc):
        """
        Set the max translational acceleration of Cartesian space

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            acc: max acceleration (mm/s^2)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_tcp_maxacc(acc)

    def set_joint_jerk(self, jerk, is_radian=None):
        """
        Set the jerk of Joint space

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            jerk: jerk (°/s^3 or rad/s^3)

            is_radian: if the jerk is in radians or not, defaults to self.default_is_radian

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_joint_jerk(jerk, is_radian=is_radian)

    def set_joint_maxacc(self, acc, is_radian=None):
        """
        Set the max acceleration of Joint space

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            acc: max acceleration (°/s^2 or rad/s^2)

            is_radian: if the jerk is in radians or not, defaults to self.default_is_radian

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_joint_maxacc(acc, is_radian=is_radian)

    def set_tcp_load(self, weight, center_of_gravity, wait=False, **kwargs):
        """
        Set the end load of xArm

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            weight: load weight (unit: kg)

            center_of_gravity: load center of gravity, such as [x(mm), y(mm), z(mm)]

            wait: whether to wait for the command to be executed or for the robotic arm to stop

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_tcp_load(weight, center_of_gravity, wait=wait, **kwargs)

    def set_collision_sensitivity(self, value, wait=True):
        """
        Set the sensitivity to collision

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            value: sensitivity value, 0~5

            wait: reversed

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_collision_sensitivity(value, wait=wait)

    def set_teach_sensitivity(self, value, wait=True):
        """
        Set the sensitivity of drag and teach

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            value: sensitivity value, 1~5

            wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_teach_sensitivity(value, wait=wait)

    def set_gravity_direction(self, direction, wait=True):
        """
        Set the gravity direction for proper torque compensation and collision detection.

        Note:
            1. Use only if necessary. Incorrect settings may affect torque compensation.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            direction: Gravity direction vector [x, y, z], e.g., [0, 0, -1] for a floor-mounted arm.

            wait: Whether to wait for the robotic arm to stop or clear all previous queued commands before applying the setting.

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_gravity_direction(direction=direction, wait=wait)

    def set_mount_direction(self, base_tilt_deg, rotation_deg, is_radian=None):
        """
        Set the mount direction

        Note:
            1. Use only if necessary.
            2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
            3. Use clean_conf() to restore the system default settings.

        Args:
            base_tilt_deg: tilt degree

            rotation_deg: rotation degree

            is_radian: if the base_tilt_deg/rotation_deg is in radians or not, defaults to self.default_is_radian

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_mount_direction(base_tilt_deg, rotation_deg, is_radian=is_radian)

    def get_inverse_kinematics(self, pose, input_is_radian=None, return_is_radian=None, limited=True, ref_angles=None):
        """
        Get inverse kinematics

        Note:
            1. the roll/pitch/yaw unit is radian if input_is_radian is True, else °

        Args:
            pose: [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]

            input_is_radian: if the param pose value(only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian

            return_is_radian: if the returned value should be in radians or not, defaults to self.default_is_radian

            limited: if the result is limited to within ±180° or not, default is True(only available if firmware_version >= 2.7.103)

            ref_angles: reference values for joint angles
                Note: unit is radian if input_is_radian is True, else °
                Note: only available if firmware_version >= 2.7.103

        Returns:
            out (tuple[int, list]): tuple((code, angles)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            angles (list[float]): [angle-1(rad or °), angle-2, ..., angle-(Number of axes)] or []

                Note: the returned angle value is radians if return_is_radian is True, else °
        """
        return self.arm.get_inverse_kinematics(pose, input_is_radian=input_is_radian, return_is_radian=return_is_radian, limited=limited, ref_angles=ref_angles)

    def get_forward_kinematics(self, angles, input_is_radian=None, return_is_radian=None):
        """
        Get forward kinematics

        Args:
            angles: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm

            input_is_radian: the param angles value is in radians or not, defaults to self.default_is_radian

            return_is_radian: the returned value is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, list]): tuple((code, pose)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            pose (list[float]): [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)] or []

                Note: the roll/pitch/yaw value is radians if return_is_radian is True, else °
        """
        return self.arm.get_forward_kinematics(angles, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

    def set_tgpio_digital_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
        """
        Set the digital value of the specified Tool GPIO when the robot has reached the specified xyz position           

        Args:
            ionum: 0 or 1

            value: value

            xyz: position xyz, as [x, y, z]

            fault_tolerance_radius: fault tolerance radius

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
        """
        return self.arm.set_tgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

    def set_cgpio_digital_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
        """
        Set the digital value of the specified Controller GPIO when the robot has reached the specified xyz position           

        Args:
            ionum: 0 ~ 15

            value: value

            xyz: position xyz, as [x, y, z]

            fault_tolerance_radius: fault tolerance radius

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
        """
        return self.arm.set_cgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

    def set_cgpio_analog_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
        """
        Set the analog value of the specified Controller GPIO when the robot has reached the specified xyz position           

        Args:
            ionum: 0 ~ 1

            value: value

            xyz: position xyz, as [x, y, z]

            fault_tolerance_radius: fault tolerance radius

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
        """
        return self.arm.set_cgpio_analog_with_xyz(ionum, value, xyz, fault_tolerance_radius)

    def config_tgpio_reset_when_stop(self, on_off):
        """
        Configure the Tool GPIO reset the digital output when the robot is in stop state

        Args:
            on_off: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.config_io_reset_when_stop(1, on_off)

    def config_cgpio_reset_when_stop(self, on_off):
        """
        Configure the Controller GPIO reset the digital output when the robot is in stop state

        Args:
            on_off: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.config_io_reset_when_stop(0, on_off)

    def set_report_tau_or_i(self, tau_or_i=0):
        """
        Set if torque or electric current is reported

        Args:
            tau_or_i: 
                - 0: torque
                - 1: electric current

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_report_tau_or_i(tau_or_i=tau_or_i)

    def get_report_tau_or_i(self):
        """
        Get the reported torque or electric current

        Returns:
            out (tuple[int, int]): tuple((code, tau_or_i))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            tau_or_i (int): 
                - 0: torque
                - 1: electric current
        """
        return self.arm.get_report_tau_or_i()

    def set_self_collision_detection(self, on_off):
        """
        Set whether to enable self-collision detection 

        Args:
            on_off: enable or not

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_self_collision_detection(on_off)

    def set_collision_tool_model(self, tool_type, *args, **kwargs):
        """
        Set the geometric model of the end effector for self collision detection

        Args:
            tool_type: the geometric model type

                - 0: No end effector, no additional parameters required

                - 1: xArm Gripper, no additional parameters required

                - 2: xArm Vacuum Gripper, no additional parameters required

                - 3: xArm Bio Gripper, no additional parameters required

                - 4: Robotiq-2F-85 Gripper, no additional parameters required

                - 5: Robotiq-2F-140 Gripper, no additional parameters required

                - 7: Lite Gripper, no additional parameters required

                - 8: Lite Vacuum Gripper, no additional parameters required

                - 9: xArm Gripper G2, no additional parameters required

                - 10: PGC-140-50 of the DH-ROBOTICS, no additional parameters required

                - 11: RH56DFX-2L of the INSPIRE-ROBOTS, no additional parameters required

                - 12: RH56DFX-2R of the INSPIRE-ROBOTS, no additional parameters required

                - 13: xArm Bio Gripper G2, no additional parameters required

                - 21: Cylinder, need additional parameters radius, height 

                    - ex: self.set_collision_tool_model(21, radius=45, height=137)

                    - radius: the radius of cylinder, (mm)

                    - height: the height of cylinder, (mm)

                    - x_offset: offset in the x direction, (mm)

                    - y_offset: offset in the y direction, (mm)

                    - z_offset: offset in the z direction, (mm)

                - 22: Cuboid, need additional parameters x, y, z

                    - ex: self.set_collision_tool_model(22, x=234, y=323, z=23)

                    - x: the length of the cuboid in the x coordinate direction, (mm)

                    - y: the length of the cuboid in the y coordinate direction, (mm)

                    - z: the length of the cuboid in the z coordinate direction, (mm)

                    - x_offset: offset in the x direction, (mm)

                    - y_offset: offset in the y direction, (mm)

                    - z_offset: offset in the z direction, (mm)

            args: additional parameters

            kwargs: additional parameters

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_collision_tool_model(tool_type, *args, **kwargs)

    def get_robot_sn(self):
        """
        Gets the xArm sn

        Returns:
            out (tuple[int, str]): tuple((code, sn)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            sn (str): the xArm sn
        """
        return self.arm.get_robot_sn()

    def get_reduced_mode(self):
        """
        Get reduced mode

        Note:
            1. This interface relies on Firmware 1.2.0 or above

        Returns:
            out (tuple[int, int]): tuple((code, mode))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            mode (int): 0 or 1, 1 means the reduced mode is on. 0 means the reduced mode is not on
        """
        return self.arm.get_reduced_mode()

    def get_reduced_states(self, is_radian=None):
        """
        Get states of the reduced mode

        Note:
            1. This interface relies on Firmware 1.2.0 or above

        Args:
            is_radian: if the max_joint_speed of the states is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, list]): tuple((code, states))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            states (list): [....]

                if version > 1.2.11:

                states: [

                   reduced_mode_is_on,

                   [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],

                   reduced_max_tcp_speed,

                   reduced_max_joint_speed,

                   joint_ranges([joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]),

                   safety_boundary_is_on,

                   collision_rebound_is_on,

                ]

                if version <= 1.2.11:

                states: [

                reduced_mode_is_on,

                [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],

                reduced_max_tcp_speed,

                reduced_max_joint_speed,

                ]

        """
        return self.arm.get_reduced_states(is_radian=is_radian)

    def set_reduced_max_tcp_speed(self, speed):
        """
        Set the maximum tcp speed of the reduced mode

        Note:
            1. This interface relies on Firmware 1.2.0 or above
            2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

        Args:
            speed: speed (mm/s)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_reduced_max_tcp_speed(speed)

    def set_reduced_max_joint_speed(self, speed, is_radian=None):
        """
        Set the maximum joint speed of the reduced mode

        Note:
            1. This interface relies on Firmware 1.2.0 or above
            2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

        Args:
            speed: speed (°/s or rad/s)

            is_radian: the speed is in radians or not, defaults to self.default_is_radian

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_reduced_max_joint_speed(speed, is_radian=is_radian)

    def set_reduced_tcp_boundary(self, boundary):
        """
        Set the boundary of the safety boundary mode

        Note:
            1. This interface relies on Firmware 1.2.0 or above
            2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

        Args:
            boundary: [x_max, x_min, y_max, y_min, z_max, z_min]

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_reduced_tcp_boundary(boundary)

    def set_reduced_joint_range(self, joint_range, is_radian=None):
        """
        Set the joint range of the reduced mode

        Note:
            1. This interface relies on Firmware 1.2.11 or above
            2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

        Args:
            joint_range: [joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]

            is_radian: the param joint_range are in radians or not, defaults to self.default_is_radian

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_reduced_joint_range(joint_range, is_radian=is_radian)

    def set_fence_mode(self, on):
        """
        Turn on/off fence mode

        Note:
            1. This interface relies on Firmware 1.2.11 or above

        Args:
            on: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_fense_mode(on)

    def set_collision_rebound(self, on):
        """
        Turn on/off collision rebound

        Note:
            1. This interface relies on Firmware 1.2.11 or above

        Args:
            on: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_collision_rebound(on)

    def set_world_offset(self, offset, is_radian=None, wait=True):
        """
        Set the base coordinate offset

        Note:
            1. This interface relies on Firmware 1.2.11 or above

        Args:
            offset: [x, y, z, roll, pitch, yaw]

            is_radian: if the roll/pitch/yaw is in radians or not, defaults to self.default_is_radian

            wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed/cleared before setting

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_world_offset(offset, is_radian=is_radian, wait=wait)

    def is_tcp_limit(self, pose, is_radian=None):
        """
        Check the tcp pose is within limit

        Args:
            pose: [x, y, z, roll, pitch, yaw]

            is_radian: roll/pitch/yaw value is radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, bool]): tuple((code, limit)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            limit (bool): True/False/None, limit or not, or failed
        """
        return self.arm.is_tcp_limit(pose, is_radian=is_radian)

    def is_joint_limit(self, joint, is_radian=None):
        """
        Check the joint angle is within limit

        Args:
            joint: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm

            is_radian: angle value is radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, bool]): tuple((code, limit)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            limit (bool): True/False/None, limit or not, or failed
        """
        return self.arm.is_joint_limit(joint, is_radian=is_radian)

    def get_servo_debug_msg(self, show=False, lang='en'):
        """
        Get the servo debug msg, used only for debugging

        Args:
            show: show the detail info if True

            lang: language, en/cn, default is en

        Returns:
            out (tuple[int, list]): tuple((code, servo_info_list)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.get_servo_debug_msg(show=show, lang=lang)

    def get_gripper_version(self):
        """
        Get gripper version, only for debug

        Returns:
            out (tuple[int, str]): tuple((code, version))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            version (str): gripper version
        """
        return self.arm.get_gripper_version()

    def get_servo_version(self, servo_id=1):
        """
        Get servo version, only for debug

        Args:
            servo_id: servo id(1~7)

        Returns:
            out (tuple[int, str]): tuple((code, version))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            version (str): servo version
        """
        return self.arm.get_servo_version(servo_id=servo_id)

    def get_tgpio_version(self):
        """
        Get tool gpio version, only for debug

        Returns:
            out (tuple[int, str]): tuple((code, version))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            version (str): tool gpio version
        """
        return self.arm.get_tgpio_version()

    def get_harmonic_type(self, servo_id=1):
        """
        Get harmonic type, only for debug

        Returns:
            out (tuple[int, int]): (code, type)

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            type (int): harmonic type
        """
        return self.arm.get_harmonic_type(servo_id=servo_id)

    def get_hd_types(self):
        """
        Get harmonic types, only for debug

        Returns:
            out (tuple[int, list]): (code, types)

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            types (list): list of harmonic types
        """
        return self.arm.get_hd_types()

    def set_counter_reset(self):
        """
        Reset counter value

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_counter_reset()

    def set_counter_increase(self, val=1):
        """
        Set counter plus value, only supports increasing by 1

        Args:
            val: reversed

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_counter_increase(val)

    def get_joints_torque(self):
        """
        Get joint torque

        Returns:
            out (tuple[int, list]): tuple((code, joints_torque))

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            joints_torque (list): joint torque
        """
        return self.arm.get_joints_torque()

    def set_timeout(self, timeout):
        """
        Set the timeout of cmd response

        Args:
            timeout: seconds
        """
        return self.arm.set_timeout(timeout)

    def set_baud_checkset_enable(self, enable):
        """
        Enable auto checkset the baudrate of the end IO board or not

        Note:
            only available in the API of gripper/bio/robotiq/linear_motor.

        Args:
            enable: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_baud_checkset_enable(enable)

    def set_checkset_default_baud(self, type_, baud):
        """
        Set the checkset baud value

        Args:
            type_: checkset type
                - 1: xarm gripper
                - 2: bio gripper
                - 3: robotiq gripper
                - 4: linear motor

            baud: checkset baud value, less than or equal to 0 means disable checkset

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_checkset_default_baud(type_, baud)

    def get_checkset_default_baud(self, type_):
        """
        Get the checkset baud value

        Args:
            type_: checkset type
                - 1: xarm gripper
                - 2: bio gripper
                - 3: robotiq gripper
                - 4: linear motor

        Returns:
            out (tuple[int, int]): (code, baud)

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            baud (int): the checkset baud value
        """
        return self.arm.get_checkset_default_baud(type_)

    def calibrate_tcp_coordinate_offset(self, four_points, is_radian=None):
        """
        Four-point method to calibrate tool coordinate system position offset

        Note:
            1. only available if firmware_version >= 1.6.9

        Args:
            four_points: a list of four teaching coordinate positions [x, y, z, roll, pitch, yaw]

            is_radian: if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian

        Returns:
            out: tuple((code, xyz_offset)), returned result is only corrent when code is 0.

            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            xyz_offset: calculated xyz(mm) TCP offset, [x, y, z] 
        """
        return self.arm.calibrate_tcp_coordinate_offset(four_points, is_radian=is_radian)

    def calibrate_tcp_orientation_offset(self, rpy_be, rpy_bt, input_is_radian=None, return_is_radian=None):
        """
        An additional teaching point to calibrate the tool coordinate system attitude offset

        Note:
            1. only available if firmware_version >= 1.6.9

        Args:
            rpy_be: the rpy value of the teaching point without TCP offset [roll, pitch, yaw]

            rpy_bt: the rpy value of the teaching point with TCP offset [roll, pitch, yaw]

            input_is_radian: if the roll/pitch/yaw value of rpy_be and rpy_bt is in radians or not, defaults to self.default_is_radian

            return_is_radian: if the roll/pitch/yaw value of result is in radians or not, defaults to self.default_is_radian

        Returns:
            out: tuple((code, rpy_offset)), returned result is only corrent when code is 0.

            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            rpy_offset: calculated rpy TCP offset, [roll, pitch, yaw]
        """
        return self.arm.calibrate_tcp_orientation_offset(rpy_be, rpy_bt, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

    def calibrate_user_orientation_offset(self, three_points, mode=0, trust_ind=0, input_is_radian=None, return_is_radian=None):
        """
        Three-point method teaches user coordinate system posture offset

        Note:
            1. only available if firmware_version >= 1.6.9
            2. First determine a point in the working space, move along the desired coordinate system x+ to determine the second point,
            and then move along the desired coordinate system y+ to determine the third point. 
            3. Note that the x+ direction is as accurate as possible. 
            4. If the y+ direction is not completely perpendicular to x+, it will be corrected in the calculation process.

        Args:
            three_points: a list of teaching TCP coordinate positions [x, y, z, roll, pitch, yaw]

            input_is_radian: if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian

            return_is_radian: if the roll/pitch/yaw value of the result should be in radians or not, defaults to self.default_is_radian

        Returns:
            out: tuple((code, rpy_offset)), returned result is only corrent when code is 0.

            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            rpy_offset: calculated rpy user offset, [roll, pitch, yaw]
        """
        return self.arm.calibrate_user_orientation_offset(three_points, mode=mode, trust_ind=trust_ind, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

    def calibrate_user_coordinate_offset(self, rpy_ub, pos_b_uorg, is_radian=None):
        """
        An additional teaching point determines the position offset of the user coordinate system.

        Note:
            1. only available if firmware_version >= 1.6.9

        Args:
            rpy_ub: the confirmed offset of the base coordinate system in the user coordinate system [roll, pitch, yaw], the result of calibrate_user_orientation_offset()

            pos_b_uorg: the position of the teaching point in the base coordinate system [x, y, z], if the arm cannot reach the target position, the user can manually input the position of the target in the base coordinate.

            is_radian: if the roll/pitch/yaw value of rpy_ub is in radians or not, defaults to self.default_is_radian

        Returns:
            out: tuple((code, xyz_offset)), returned result is only corrent when code is 0.

            code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            xyz_offset: calculated xyz(mm) user offset, [x, y, z] 
        """
        return self.arm.calibrate_user_coordinate_offset(rpy_ub, pos_b_uorg, is_radian=is_radian)

    def set_simulation_robot(self, on_off):
        """
        Set the simulation robot

        Args:
            on_off: True/False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_simulation_robot(on_off)

    def get_base_board_version(self, board_id=10):
        """
         Get base board version

        Args:
            board_id: int

        Returns:
            out (tuple[int, str]): (code, version)

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            version (str): base board version
        """
        return self.arm.get_base_board_version(board_id)

    def iden_tcp_load(self, estimated_mass=0):
        """
        Identification the tcp load with current

        Note:
            1. only available if firmware_version >= 1.8.0

        Args:
            estimated_mass: estimated mass

                Note: this parameter is only available on the lite6 model manipulator, and this parameter must be specified for the lite6 model manipulator

        Returns:
            out (tuple[int, list]): tuple((code, load)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            load (list): [mass, x_centroid, y_centroid, z_centroid]

        """
        return self.arm.iden_tcp_load(estimated_mass)

    def get_initial_point(self):
        """
        Get the initial point from studio

        Returns:
            out (tuple[int, list]): tuple((code, point)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            point (list): initial point, [J1, J2, ..., J7]
        """
        return self.arm._studio.get_initial_point()

    def set_initial_point(self, point):
        """
        Set the initial point

        Args:
            point: initial point, [J1, J2, ..., J7]

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
        """
        return self.arm._studio.set_initial_point(point)

    def get_mount_direction(self):
        """
        Get the mount degrees from studio

        Returns:
            ou (tuple[int, list]): tuple((code, degrees)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            degrees (list): mount degrees, [tilt angle, rotate angle]
        """
        return self.arm._studio.get_mount_direction()

    def set_cartesian_velo_continuous(self, on_off):
        """
        Set cartesian motion velocity continuous

        Note:
            1. only available if firmware_version >= 1.9.0

        Args:
            on_off: whether motion is continuous or not, True: continuous, defaults to False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_cartesian_velo_continuous(on_off)

    def set_allow_approx_motion(self, on_off):
        """
        Settings to allow avoiding overspeed near some singularities using approximate solutions

        Note:
            1. only available if firmware_version >= 1.9.0

        Args:
            on_off: whether to allow or not, True: allow, default is False

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_allow_approx_motion(on_off)

    def get_allow_approx_motion(self):
        """
        Obtain whether to enable approximate solutions to avoid certain singularities

        Note:
            1. only available if firmware_version >= 1.9.0

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.get_allow_approx_motion()

    def get_joint_states(self, is_radian=None, num=3):
        """
        Get the joint states

        Note:
            1. only available if firmware_version >= 1.9.0

        Args:
            is_radian: if the returned value(position and velocity) is in radians or not, defaults to self.default_is_radian

        Returns:
            out (tuple[int, [list]]): tuple((code, [position, velocity, effort])), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            position (list[float]): the angles of joints, like [angle-1, ..., angle-7]

            velocity (list[float]): the velocities of joints, like [velo-1, ..., velo-7]

            effort (list[float]): the efforts of joints, like [effort-1, ..., effort-7]
        """
        return self.arm.get_joint_states(is_radian=is_radian, num=num)

    def iden_joint_friction(self, sn=None):
        """
        Identification of the friction

        Note:
            1. only available if firmware_version >= 1.9.0

        Args:
            sn: sn value

        Returns:
            out (tuple[int, int]): tuple((code, result)) returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            result (int): 
                - 0: success
                - -1: failure
        """
        return self.arm.iden_joint_friction(sn)

    def set_only_check_type(self, only_check_type=0):
        """
        Set the motion process detection type (valid for all motion interfaces of the current SDK instance)

        Note:
            1. only available if firmware_version >= 1.11.100
            2. This interface is a global configuration item of the current SDK, and affects all motion-related interfaces
            3. Generally, you only need to call when you don't want to move the robotic arm and only check whether some paths will have self-collision/angle-limit/cartesian-limit/overspeed.
            4. Currently only self-collision/angle-limit/cartesian-limit/overspeed are detected
            5. If only_check_type is set to be greater than 0, and the return value of calling the motion interface is not 0, you can view arm.only_check_result to view the specific error code

        Example: (Common scenarios, here is an example of the set_position interface)
            - 1. Check whether the process from point A to point B is normal (no self-collision and overspeed triggered)

                - 1.1 Move to point A

                    - arm.set_only_check_type(0)

                    - code = arm.set_position(A)

                - 1.2 Check if the process from point A to point B is normal (no self-collision and overspeed triggered)

                    - arm.set_only_check_type(1)

                    - code = arm.set_position(B)

                    - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                    - arm.set_only_check_type(0)


            - 2. Check whether the process from point A to point B, C, and D to point E is normal (no self-collision and overspeed are triggered)

                - 2.1 Move to point A

                    - arm.set_only_check_type(0)

                    - code = arm.set_position(A)

                - 2.2 Check whether the process of point A passing through points B, C, D to point E is normal (no self-collision and overspeed are triggered)

                    - arm.set_only_check_type(3)

                    - code = arm.set_position(B)

                    - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                    - code = arm.set_position(C)

                    - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                    - code = arm.set_position(D)

                    - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                    - code = arm.set_position(E)

                    - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                    - arm.set_only_check_type(0)

        Args:
            only_check_type: Motion Detection Type

                - only_check_type == 0: Restore the original function of the motion interface, it will move, the default is 0

                - only_check_type == 1: Only check the self-collision without moving, take the actual state of the manipulator as the initial planned path, and check whether the path has self-collision (the intermediate state will be updated at this time)

                - only_check_type == 2: Only check the self-collision without moving, use the intermediate state as the starting planning path, check whether the path has self-collision (the intermediate state will be updated at this time), and restore the intermediate state to the actual state after the end

                - only_check_type == 3: Only check the self-collision without moving, use the intermediate state as the starting planning path, and check whether the path has self-collision (the intermediate state will be updated at this time)

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_only_check_type(only_check_type)

    def get_dh_params(self):
        """
        Get the DH parameters

        Note:
            1. only available if firmware_version >= 2.0.0

        Returns:
            out (tuple[int, list]): tuple((code, dh_params)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            dh_params (list[float]): DH parameters

                - dh_params[0:4]: DH parameters of Joint-1

                - dh_params[4:8]: DH parameters of Joint-2

                - ...

                - dh_params[24:28]: DH parameters of Joint-7
        """
        return self.arm.get_dh_params()

    def set_dh_params(self, dh_params, flag=0):
        """
        Set the DH parameters

        Note:
            1. only available if firmware_version >= 2.0.0
            2. this interface is only provided for users who need to use external DH parameters, ordinary users should not try to modify DH parameters.

        Args:
            dh_params: DH parameters

            flag: 
                - 0: Use the set DH parameters, but do not write to the configuration file
                - 1: Use the set DH parameters and write to the configuration file
                - 2: Use the set DH parameters and delete the DH parameters of the configuration file
                - 3: Use the default DH parameters, but will not delete the DH parameters of the configuration file
                - 4: Use the default DH parameters and delete the DH parameters of the configuration file

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_dh_params(dh_params, flag) 

    def set_feedback_type(self, feedback_type):
        """
        Set the feedback type

        Note:
            1. only available if firmware_version >= 2.1.0
            2. only works in position mode
            3. the setting will only affect subsequent tasks and will not affect previously cached tasks
            4. only valid for the current connection

        Args:
            feedback_type:
                - 0: disable feedback
                - 1: feedback when the motion task starts executing
                - 2: feedback when the motion task execution ends or motion task is discarded(usually when the distance is too close to be planned)
                - 4: feedback when the non-motion task is triggered

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_feedback_type(feedback_type)

    def set_linear_spd_limit_factor(self, factor):
        """
        Set linear speed limit factor (default is 1.2)

        Note:
            1. only available if firmware_version >= 2.3.0
            2. only available in mode 1

        Args:
            factor: speed limit factor

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_linear_spd_limit_factor(factor)

    def set_cmd_mat_history_num(self, num):
        """
        Set cmd mat history num

        Note:
            Only available if firmware_version >= 2.3.0

        Args:
            num: history num

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_cmd_mat_history_num(num)

    def set_fdb_mat_history_num(self, num):
        """
        Set fdb mat history num

        Note:
            Only available if firmware_version >= 2.3.0

        Args:
            num: history num

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_fdb_mat_history_num(num)

    def get_linear_spd_limit_factor(self):
        """
        Get linear speed limit factor

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, float]): tuple((code, factor)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            factor (float): linear speed limit factor
        """
        return self.arm.get_linear_spd_limit_factor()

    def get_cmd_mat_history_num(self):
        """
        Get cmd mat history num

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, int]): tuple((code, num)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            num (int): cmd mat history num
        """
        return self.arm.get_cmd_mat_history_num()

    def get_fdb_mat_history_num(self):
        """
        Get fdb mat history num

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, int]): tuple((code, num)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            num (int): fdb mat history num
        """
        return self.arm.get_fdb_mat_history_num()

    def get_poe_status(self):
        """
        Get poe status

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            status (int): 1 means poe is valid, 0 means poe is invalid
        """
        return self.arm.get_poe_status()

    def get_iden_status(self):
        """
        Get iden status

        Note:
            Only available if firmware_version >= 2.3.0

        Returns:
            out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            status (int): 1 means in identifying, 0 means not in identifying
        """
        return self.arm.get_iden_status()    

    def set_external_device_monitor_params(self, dev_type, frequency):
        """
        Set the monitor params of the external device

        Note:
            1. only available if firmware_version >= 2.7.100
            2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000
            3. once an error occurs, you need to re call to monitor

        Args:
            dev_type: the type of the external device

                - 0: Turn off monitoring

                - 1: xArm Gripper

                - 2: xArm Gripper G2

                - 3: BIO Gripper G2

                - 4: Robotiq 2F-85/Robotiq 2F-140

            frequency: the frequency of communication with the external device

        Returns:
            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
        """
        return self.arm.set_external_device_monitor_params(dev_type, frequency)

    def get_external_device_monitor_params(self):
        """
        Get the monitor params of the external device

        Note:
            1. only available if firmware_version >= 2.7.100

        Returns:
            out tuple[int, int]: tuple((code, params)), returned result is only corrent when code is 0.

            code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

            params (int): [dev_type, frequency]
        """
        return self.arm.get_external_device_monitor_params()

calibrate_tcp_coordinate_offset(four_points, is_radian=None)

Four-point method to calibrate tool coordinate system position offset

Note

1. only available if firmware_version >= 1.6.9

Parameters:

Name	Type	Description	Default
four_points		a list of four teaching coordinate positions [x, y, z, roll, pitch, yaw]	required
is_radian		if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out		tuple((code, xyz_offset)), returned result is only corrent when code is 0.
code		See the API Code Documentation for details.
xyz_offset		calculated xyz(mm) TCP offset, [x, y, z]

Source code in actions\settings.py

def calibrate_tcp_coordinate_offset(self, four_points, is_radian=None):
    """
    Four-point method to calibrate tool coordinate system position offset

    Note:
        1. only available if firmware_version >= 1.6.9

    Args:
        four_points: a list of four teaching coordinate positions [x, y, z, roll, pitch, yaw]

        is_radian: if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian

    Returns:
        out: tuple((code, xyz_offset)), returned result is only corrent when code is 0.

        code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        xyz_offset: calculated xyz(mm) TCP offset, [x, y, z] 
    """
    return self.arm.calibrate_tcp_coordinate_offset(four_points, is_radian=is_radian)

calibrate_tcp_orientation_offset(rpy_be, rpy_bt, input_is_radian=None, return_is_radian=None)

An additional teaching point to calibrate the tool coordinate system attitude offset

Note

1. only available if firmware_version >= 1.6.9

Parameters:

Name	Type	Description	Default
rpy_be		the rpy value of the teaching point without TCP offset [roll, pitch, yaw]	required
rpy_bt		the rpy value of the teaching point with TCP offset [roll, pitch, yaw]	required
input_is_radian		if the roll/pitch/yaw value of rpy_be and rpy_bt is in radians or not, defaults to self.default_is_radian	None
return_is_radian		if the roll/pitch/yaw value of result is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out		tuple((code, rpy_offset)), returned result is only corrent when code is 0.
code		See the API Code Documentation for details.
rpy_offset		calculated rpy TCP offset, [roll, pitch, yaw]

Source code in actions\settings.py

def calibrate_tcp_orientation_offset(self, rpy_be, rpy_bt, input_is_radian=None, return_is_radian=None):
    """
    An additional teaching point to calibrate the tool coordinate system attitude offset

    Note:
        1. only available if firmware_version >= 1.6.9

    Args:
        rpy_be: the rpy value of the teaching point without TCP offset [roll, pitch, yaw]

        rpy_bt: the rpy value of the teaching point with TCP offset [roll, pitch, yaw]

        input_is_radian: if the roll/pitch/yaw value of rpy_be and rpy_bt is in radians or not, defaults to self.default_is_radian

        return_is_radian: if the roll/pitch/yaw value of result is in radians or not, defaults to self.default_is_radian

    Returns:
        out: tuple((code, rpy_offset)), returned result is only corrent when code is 0.

        code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        rpy_offset: calculated rpy TCP offset, [roll, pitch, yaw]
    """
    return self.arm.calibrate_tcp_orientation_offset(rpy_be, rpy_bt, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

calibrate_user_coordinate_offset(rpy_ub, pos_b_uorg, is_radian=None)

An additional teaching point determines the position offset of the user coordinate system.

Note

1. only available if firmware_version >= 1.6.9

Parameters:

Name	Type	Description	Default
rpy_ub		the confirmed offset of the base coordinate system in the user coordinate system [roll, pitch, yaw], the result of calibrate_user_orientation_offset()	required
pos_b_uorg		the position of the teaching point in the base coordinate system [x, y, z], if the arm cannot reach the target position, the user can manually input the position of the target in the base coordinate.	required
is_radian		if the roll/pitch/yaw value of rpy_ub is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out		tuple((code, xyz_offset)), returned result is only corrent when code is 0.
code		See the API Code Documentation for details.
xyz_offset		calculated xyz(mm) user offset, [x, y, z]

Source code in actions\settings.py

def calibrate_user_coordinate_offset(self, rpy_ub, pos_b_uorg, is_radian=None):
    """
    An additional teaching point determines the position offset of the user coordinate system.

    Note:
        1. only available if firmware_version >= 1.6.9

    Args:
        rpy_ub: the confirmed offset of the base coordinate system in the user coordinate system [roll, pitch, yaw], the result of calibrate_user_orientation_offset()

        pos_b_uorg: the position of the teaching point in the base coordinate system [x, y, z], if the arm cannot reach the target position, the user can manually input the position of the target in the base coordinate.

        is_radian: if the roll/pitch/yaw value of rpy_ub is in radians or not, defaults to self.default_is_radian

    Returns:
        out: tuple((code, xyz_offset)), returned result is only corrent when code is 0.

        code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        xyz_offset: calculated xyz(mm) user offset, [x, y, z] 
    """
    return self.arm.calibrate_user_coordinate_offset(rpy_ub, pos_b_uorg, is_radian=is_radian)

calibrate_user_orientation_offset(three_points, mode=0, trust_ind=0, input_is_radian=None, return_is_radian=None)

Three-point method teaches user coordinate system posture offset

Note

1. only available if firmware_version >= 1.6.9
2. First determine a point in the working space, move along the desired coordinate system x+ to determine the second point, and then move along the desired coordinate system y+ to determine the third point.
3. Note that the x+ direction is as accurate as possible.
4. If the y+ direction is not completely perpendicular to x+, it will be corrected in the calculation process.

Parameters:

Name	Type	Description	Default
three_points		a list of teaching TCP coordinate positions [x, y, z, roll, pitch, yaw]	required
input_is_radian		if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian	None
return_is_radian		if the roll/pitch/yaw value of the result should be in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out		tuple((code, rpy_offset)), returned result is only corrent when code is 0.
code		See the API Code Documentation for details.
rpy_offset		calculated rpy user offset, [roll, pitch, yaw]

Source code in actions\settings.py

def calibrate_user_orientation_offset(self, three_points, mode=0, trust_ind=0, input_is_radian=None, return_is_radian=None):
    """
    Three-point method teaches user coordinate system posture offset

    Note:
        1. only available if firmware_version >= 1.6.9
        2. First determine a point in the working space, move along the desired coordinate system x+ to determine the second point,
        and then move along the desired coordinate system y+ to determine the third point. 
        3. Note that the x+ direction is as accurate as possible. 
        4. If the y+ direction is not completely perpendicular to x+, it will be corrected in the calculation process.

    Args:
        three_points: a list of teaching TCP coordinate positions [x, y, z, roll, pitch, yaw]

        input_is_radian: if the roll/pitch/yaw value of each point is in radians or not, defaults to self.default_is_radian

        return_is_radian: if the roll/pitch/yaw value of the result should be in radians or not, defaults to self.default_is_radian

    Returns:
        out: tuple((code, rpy_offset)), returned result is only corrent when code is 0.

        code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        rpy_offset: calculated rpy user offset, [roll, pitch, yaw]
    """
    return self.arm.calibrate_user_orientation_offset(three_points, mode=mode, trust_ind=trust_ind, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

config_cgpio_reset_when_stop(on_off)

Configure the Controller GPIO reset the digital output when the robot is in stop state

Parameters:

Name	Type	Description	Default
on_off		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def config_cgpio_reset_when_stop(self, on_off):
    """
    Configure the Controller GPIO reset the digital output when the robot is in stop state

    Args:
        on_off: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.config_io_reset_when_stop(0, on_off)

config_tgpio_reset_when_stop(on_off)

Configure the Tool GPIO reset the digital output when the robot is in stop state

Parameters:

Name	Type	Description	Default
on_off		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def config_tgpio_reset_when_stop(self, on_off):
    """
    Configure the Tool GPIO reset the digital output when the robot is in stop state

    Args:
        on_off: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.config_io_reset_when_stop(1, on_off)

get_allow_approx_motion()

Obtain whether to enable approximate solutions to avoid certain singularities

Note

1. only available if firmware_version >= 1.9.0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def get_allow_approx_motion(self):
    """
    Obtain whether to enable approximate solutions to avoid certain singularities

    Note:
        1. only available if firmware_version >= 1.9.0

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.get_allow_approx_motion()

get_base_board_version(board_id=10)

Get base board version

Parameters:

Name	Type	Description	Default
board_id		int	10

Returns:

Name	Type	Description
out	tuple[int, str]	(code, version)
code	int	See the API Code Documentation for details.
version	str	base board version

Source code in actions\settings.py

def get_base_board_version(self, board_id=10):
    """
     Get base board version

    Args:
        board_id: int

    Returns:
        out (tuple[int, str]): (code, version)

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        version (str): base board version
    """
    return self.arm.get_base_board_version(board_id)

get_checkset_default_baud(type_)

Get the checkset baud value

Parameters:

Name	Type	Description	Default
type_		checkset type - 1: xarm gripper - 2: bio gripper - 3: robotiq gripper - 4: linear motor	required

Returns:

Name	Type	Description
out	tuple[int, int]	(code, baud)
code	int	See the API Code Documentation for details.
baud	int	the checkset baud value

Source code in actions\settings.py

def get_checkset_default_baud(self, type_):
    """
    Get the checkset baud value

    Args:
        type_: checkset type
            - 1: xarm gripper
            - 2: bio gripper
            - 3: robotiq gripper
            - 4: linear motor

    Returns:
        out (tuple[int, int]): (code, baud)

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        baud (int): the checkset baud value
    """
    return self.arm.get_checkset_default_baud(type_)

get_cmd_mat_history_num()

Get cmd mat history num

Note

Only available if firmware_version >= 2.3.0

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, num)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
num	int	cmd mat history num

Source code in actions\settings.py

def get_cmd_mat_history_num(self):
    """
    Get cmd mat history num

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, int]): tuple((code, num)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        num (int): cmd mat history num
    """
    return self.arm.get_cmd_mat_history_num()

get_cmdnum()

Get the cmd count in cache

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, cmd_num)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
cmd_num	int	command count in cache

Source code in actions\settings.py

def get_cmdnum(self):
    """
    Get the cmd count in cache

    Returns:
        out (tuple[int, int]): tuple((code, cmd_num)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        cmd_num (int): command count in cache
    """
    return self.arm.get_cmdnum()

get_dh_params()

Get the DH parameters

Note

1. only available if firmware_version >= 2.0.0

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, dh_params)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
dh_params	list[float]	DH parameters dh_params[0:4]: DH parameters of Joint-1 dh_params[4:8]: DH parameters of Joint-2 ... dh_params[24:28]: DH parameters of Joint-7

Source code in actions\settings.py

def get_dh_params(self):
    """
    Get the DH parameters

    Note:
        1. only available if firmware_version >= 2.0.0

    Returns:
        out (tuple[int, list]): tuple((code, dh_params)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        dh_params (list[float]): DH parameters

            - dh_params[0:4]: DH parameters of Joint-1

            - dh_params[4:8]: DH parameters of Joint-2

            - ...

            - dh_params[24:28]: DH parameters of Joint-7
    """
    return self.arm.get_dh_params()

get_external_device_monitor_params()

Get the monitor params of the external device

Note

1. only available if firmware_version >= 2.7.100

Returns:

Name	Type	Description
		out tuple[int, int]: tuple((code, params)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
params	int	[dev_type, frequency]

Source code in actions\settings.py

def get_external_device_monitor_params(self):
    """
    Get the monitor params of the external device

    Note:
        1. only available if firmware_version >= 2.7.100

    Returns:
        out tuple[int, int]: tuple((code, params)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        params (int): [dev_type, frequency]
    """
    return self.arm.get_external_device_monitor_params()

get_fdb_mat_history_num()

Get fdb mat history num

Note

Only available if firmware_version >= 2.3.0

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, num)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
num	int	fdb mat history num

Source code in actions\settings.py

def get_fdb_mat_history_num(self):
    """
    Get fdb mat history num

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, int]): tuple((code, num)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        num (int): fdb mat history num
    """
    return self.arm.get_fdb_mat_history_num()

get_forward_kinematics(angles, input_is_radian=None, return_is_radian=None)

Get forward kinematics

Parameters:

Name	Type	Description	Default
angles		[angle-1, angle-2, ..., angle-n], n is the number of axes of the arm	required
input_is_radian		the param angles value is in radians or not, defaults to self.default_is_radian	None
return_is_radian		the returned value is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, pose)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
pose	list[float]	[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)] or [] Note: the roll/pitch/yaw value is radians if return_is_radian is True, else °

Source code in actions\settings.py

def get_forward_kinematics(self, angles, input_is_radian=None, return_is_radian=None):
    """
    Get forward kinematics

    Args:
        angles: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm

        input_is_radian: the param angles value is in radians or not, defaults to self.default_is_radian

        return_is_radian: the returned value is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, list]): tuple((code, pose)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        pose (list[float]): [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)] or []

            Note: the roll/pitch/yaw value is radians if return_is_radian is True, else °
    """
    return self.arm.get_forward_kinematics(angles, input_is_radian=input_is_radian, return_is_radian=return_is_radian)

get_gripper_version()

Get gripper version, only for debug

Returns:

Name	Type	Description
out	tuple[int, str]	tuple((code, version))
code	int	See the API Code Documentation for details.
version	str	gripper version

Source code in actions\settings.py

def get_gripper_version(self):
    """
    Get gripper version, only for debug

    Returns:
        out (tuple[int, str]): tuple((code, version))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        version (str): gripper version
    """
    return self.arm.get_gripper_version()

get_harmonic_type(servo_id=1)

Get harmonic type, only for debug

Returns:

Name	Type	Description
out	tuple[int, int]	(code, type)
code	int	See the API Code Documentation for details.
type	int	harmonic type

Source code in actions\settings.py

def get_harmonic_type(self, servo_id=1):
    """
    Get harmonic type, only for debug

    Returns:
        out (tuple[int, int]): (code, type)

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        type (int): harmonic type
    """
    return self.arm.get_harmonic_type(servo_id=servo_id)

get_hd_types()

Get harmonic types, only for debug

Returns:

Name	Type	Description
out	tuple[int, list]	(code, types)
code	int	See the API Code Documentation for details.
types	list	list of harmonic types

Source code in actions\settings.py

def get_hd_types(self):
    """
    Get harmonic types, only for debug

    Returns:
        out (tuple[int, list]): (code, types)

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        types (list): list of harmonic types
    """
    return self.arm.get_hd_types()

get_iden_status()

Get iden status

Note

Only available if firmware_version >= 2.3.0

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, status)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
status	int	1 means in identifying, 0 means not in identifying

Source code in actions\settings.py

def get_iden_status(self):
    """
    Get iden status

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        status (int): 1 means in identifying, 0 means not in identifying
    """
    return self.arm.get_iden_status()    

get_initial_point()

Get the initial point from studio

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, point)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
point	list	initial point, [J1, J2, ..., J7]

Source code in actions\settings.py

def get_initial_point(self):
    """
    Get the initial point from studio

    Returns:
        out (tuple[int, list]): tuple((code, point)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        point (list): initial point, [J1, J2, ..., J7]
    """
    return self.arm._studio.get_initial_point()

get_inverse_kinematics(pose, input_is_radian=None, return_is_radian=None, limited=True, ref_angles=None)

Get inverse kinematics

Note

1. the roll/pitch/yaw unit is radian if input_is_radian is True, else °

Parameters:

Name	Type	Description	Default
pose		[x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]	required
input_is_radian		if the param pose value(only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian	None
return_is_radian		if the returned value should be in radians or not, defaults to self.default_is_radian	None
limited		if the result is limited to within ±180° or not, default is True(only available if firmware_version >= 2.7.103)	True
ref_angles		reference values for joint angles Note: unit is radian if input_is_radian is True, else ° Note: only available if firmware_version >= 2.7.103	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, angles)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
angles	list[float]	[angle-1(rad or °), angle-2, ..., angle-(Number of axes)] or [] Note: the returned angle value is radians if return_is_radian is True, else °

Source code in actions\settings.py

def get_inverse_kinematics(self, pose, input_is_radian=None, return_is_radian=None, limited=True, ref_angles=None):
    """
    Get inverse kinematics

    Note:
        1. the roll/pitch/yaw unit is radian if input_is_radian is True, else °

    Args:
        pose: [x(mm), y(mm), z(mm), roll(rad or °), pitch(rad or °), yaw(rad or °)]

        input_is_radian: if the param pose value(only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian

        return_is_radian: if the returned value should be in radians or not, defaults to self.default_is_radian

        limited: if the result is limited to within ±180° or not, default is True(only available if firmware_version >= 2.7.103)

        ref_angles: reference values for joint angles
            Note: unit is radian if input_is_radian is True, else °
            Note: only available if firmware_version >= 2.7.103

    Returns:
        out (tuple[int, list]): tuple((code, angles)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        angles (list[float]): [angle-1(rad or °), angle-2, ..., angle-(Number of axes)] or []

            Note: the returned angle value is radians if return_is_radian is True, else °
    """
    return self.arm.get_inverse_kinematics(pose, input_is_radian=input_is_radian, return_is_radian=return_is_radian, limited=limited, ref_angles=ref_angles)

get_is_moving()

Check if the arm is moving or not

Returns:

Name	Type	Description
out	bool	True/False

Source code in actions\settings.py

def get_is_moving(self):
    """
    Check if the arm is moving or not

    Returns:
        out (bool): True/False
    """
    return self.arm.get_is_moving()

get_joint_states(is_radian=None, num=3)

Get the joint states

Note

1. only available if firmware_version >= 1.9.0

Parameters:

Name	Type	Description	Default
is_radian		if the returned value(position and velocity) is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, [list]]	tuple((code, [position, velocity, effort])), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
position	list[float]	the angles of joints, like [angle-1, ..., angle-7]
velocity	list[float]	the velocities of joints, like [velo-1, ..., velo-7]
effort	list[float]	the efforts of joints, like [effort-1, ..., effort-7]

Source code in actions\settings.py

def get_joint_states(self, is_radian=None, num=3):
    """
    Get the joint states

    Note:
        1. only available if firmware_version >= 1.9.0

    Args:
        is_radian: if the returned value(position and velocity) is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, [list]]): tuple((code, [position, velocity, effort])), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        position (list[float]): the angles of joints, like [angle-1, ..., angle-7]

        velocity (list[float]): the velocities of joints, like [velo-1, ..., velo-7]

        effort (list[float]): the efforts of joints, like [effort-1, ..., effort-7]
    """
    return self.arm.get_joint_states(is_radian=is_radian, num=num)

get_joints_torque()

Get joint torque

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, joints_torque))
code	int	See the API Code Documentation for details.
joints_torque	list	joint torque

Source code in actions\settings.py

def get_joints_torque(self):
    """
    Get joint torque

    Returns:
        out (tuple[int, list]): tuple((code, joints_torque))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        joints_torque (list): joint torque
    """
    return self.arm.get_joints_torque()

get_linear_spd_limit_factor()

Get linear speed limit factor

Note

Only available if firmware_version >= 2.3.0

Returns:

Name	Type	Description
out	tuple[int, float]	tuple((code, factor)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
factor	float	linear speed limit factor

Source code in actions\settings.py

def get_linear_spd_limit_factor(self):
    """
    Get linear speed limit factor

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, float]): tuple((code, factor)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        factor (float): linear speed limit factor
    """
    return self.arm.get_linear_spd_limit_factor()

get_mount_direction()

Get the mount degrees from studio

Returns:

Name	Type	Description
ou	tuple[int, list]	tuple((code, degrees)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
degrees	list	mount degrees, [tilt angle, rotate angle]

Source code in actions\settings.py

def get_mount_direction(self):
    """
    Get the mount degrees from studio

    Returns:
        ou (tuple[int, list]): tuple((code, degrees)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        degrees (list): mount degrees, [tilt angle, rotate angle]
    """
    return self.arm._studio.get_mount_direction()

get_poe_status()

Get poe status

Note

Only available if firmware_version >= 2.3.0

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, status)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
status	int	1 means poe is valid, 0 means poe is invalid

Source code in actions\settings.py

def get_poe_status(self):
    """
    Get poe status

    Note:
        Only available if firmware_version >= 2.3.0

    Returns:
        out (tuple[int, int]): tuple((code, status)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        status (int): 1 means poe is valid, 0 means poe is invalid
    """
    return self.arm.get_poe_status()

get_pose_offset(pose1, pose2, orient_type_in=0, orient_type_out=0, is_radian=None)

Calculate the pose offset of two given points

Note

1. x, y, z are all in mm
2. roll/rx, pitch/ry, yaw/rz are in either degrees or radians, can be selected by changing parameter is_radian

Parameters:

Name	Type	Description	Default
pose1		[x, y, z, roll/rx, pitch/ry, yaw/rz]	required
pose2		[x, y, z, roll/rx, pitch/ry, yaw/rz]	required
orient_type_in		input attitude notation, 0 is RPY(roll/pitch/yaw) (default), 1 is axis angle(rx/ry/rz)	0
orient_type_out		notation of output attitude, 0 is RPY (default), 1 is axis angle	0
is_radian		if the roll/rx/pitch/ry/yaw/rz of pose1/pose2/return_pose is in radians or not	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, pose)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
pose	list[float]	[x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]

Source code in actions\settings.py

def get_pose_offset(self, pose1, pose2, orient_type_in=0, orient_type_out=0, is_radian=None):
    """
    Calculate the pose offset of two given points

    Note:
        1. x, y, z are all in mm
        2. roll/rx, pitch/ry, yaw/rz are in either degrees or radians, can be selected by changing parameter is_radian

    Args:
        pose1: [x, y, z, roll/rx, pitch/ry, yaw/rz]

        pose2: [x, y, z, roll/rx, pitch/ry, yaw/rz]

        orient_type_in: input attitude notation, 0 is RPY(roll/pitch/yaw) (default), 1 is axis angle(rx/ry/rz)

        orient_type_out: notation of output attitude, 0 is RPY (default), 1 is axis angle

        is_radian: if the roll/rx/pitch/ry/yaw/rz of pose1/pose2/return_pose is in radians or not

    Returns:
        out (tuple[int, list]): tuple((code, pose)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        pose (list[float]): [x(mm), y(mm), z(mm), roll/rx(rad or °), pitch/ry(rad or °), yaw/rz(rad or °)]
    """
    return self.arm.get_pose_offset(pose1, pose2, orient_type_in=orient_type_in, orient_type_out=orient_type_out, is_radian=is_radian)

get_position(is_radian=None)

Get the cartesian position

Note

1. If the value(roll/pitch/yaw) you want returned should be in radians, set is_radian to True ex: code, pos = arm.get_position(is_radian=True)

Parameters:

Name	Type	Description	Default
is_radian		if the returned value (only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, [x, y, z, roll, pitch, yaw])), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def get_position(self, is_radian=None):
    """
    Get the cartesian position

    Note:
        1. If the value(roll/pitch/yaw) you want returned should be in radians, set is_radian to True
          ex: code, pos = arm.get_position(is_radian=True)

    Args:
        is_radian: if the returned value (only roll/pitch/yaw) is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, list]): tuple((code, [x, y, z, roll, pitch, yaw])), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.get_position(is_radian=is_radian)

get_position_aa(is_radian=None)

Get the pose represented by the axis angle pose

Parameters:

Name	Type	Description	Default
is_radian		if the returned value (only rx/ry/rz) is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, [x, y, z, rx, ry, rz])), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def get_position_aa(self, is_radian=None):
    """
    Get the pose represented by the axis angle pose

    Args:
        is_radian: if the returned value (only rx/ry/rz) is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, list]): tuple((code, [x, y, z, rx, ry, rz])), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.get_position_aa(is_radian=is_radian)

get_reduced_mode()

Get reduced mode

Note

1. This interface relies on Firmware 1.2.0 or above

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, mode))
code	int	See the API Code Documentation for details.
mode	int	0 or 1, 1 means the reduced mode is on. 0 means the reduced mode is not on

Source code in actions\settings.py

def get_reduced_mode(self):
    """
    Get reduced mode

    Note:
        1. This interface relies on Firmware 1.2.0 or above

    Returns:
        out (tuple[int, int]): tuple((code, mode))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        mode (int): 0 or 1, 1 means the reduced mode is on. 0 means the reduced mode is not on
    """
    return self.arm.get_reduced_mode()

get_reduced_states(is_radian=None)

Get states of the reduced mode

Note

1. This interface relies on Firmware 1.2.0 or above

Parameters:

Name	Type	Description	Default
is_radian		if the max_joint_speed of the states is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, states))
code	int	See the API Code Documentation for details.
states	list	[....] if version > 1.2.11: states: [ reduced_mode_is_on, [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min], reduced_max_tcp_speed, reduced_max_joint_speed, joint_ranges([joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]), safety_boundary_is_on, collision_rebound_is_on, ] if version <= 1.2.11: states: [ reduced_mode_is_on, [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min], reduced_max_tcp_speed, reduced_max_joint_speed, ]

Source code in actions\settings.py

def get_reduced_states(self, is_radian=None):
    """
    Get states of the reduced mode

    Note:
        1. This interface relies on Firmware 1.2.0 or above

    Args:
        is_radian: if the max_joint_speed of the states is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, list]): tuple((code, states))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        states (list): [....]

            if version > 1.2.11:

            states: [

               reduced_mode_is_on,

               [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],

               reduced_max_tcp_speed,

               reduced_max_joint_speed,

               joint_ranges([joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]),

               safety_boundary_is_on,

               collision_rebound_is_on,

            ]

            if version <= 1.2.11:

            states: [

            reduced_mode_is_on,

            [reduced_x_max, reduced_x_min, reduced_y_max, reduced_y_min, reduced_z_max, reduced_z_min],

            reduced_max_tcp_speed,

            reduced_max_joint_speed,

            ]

    """
    return self.arm.get_reduced_states(is_radian=is_radian)

get_report_tau_or_i()

Get the reported torque or electric current

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, tau_or_i))
code	int	See the API Code Documentation for details.
tau_or_i	int	0: torque 1: electric current

Source code in actions\settings.py

def get_report_tau_or_i(self):
    """
    Get the reported torque or electric current

    Returns:
        out (tuple[int, int]): tuple((code, tau_or_i))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        tau_or_i (int): 
            - 0: torque
            - 1: electric current
    """
    return self.arm.get_report_tau_or_i()

get_robot_sn()

Gets the xArm sn

Returns:

Name	Type	Description
out	tuple[int, str]	tuple((code, sn)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
sn	str	the xArm sn

Source code in actions\settings.py

def get_robot_sn(self):
    """
    Gets the xArm sn

    Returns:
        out (tuple[int, str]): tuple((code, sn)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        sn (str): the xArm sn
    """
    return self.arm.get_robot_sn()

get_servo_angle(servo_id=None, is_radian=None, is_real=False)

Get the servo angle

Note

1. If the value you want returned should be in radians, set is_radian to True ex: code, angles = arm.get_servo_angle(is_radian=True)
2. If you want to return only the angle of a single joint, please set the parameter servo_id ex: code, angle = arm.get_servo_angle(servo_id=2)
3. This interface is only used in the base coordinate system.

Parameters:

Name	Type	Description	Default
servo_id		1-(Number of axes), None(8), default is None	None
is_radian		the returned value is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, list | float]	tuple((code, angle list if servo_id is None or 8 else angle)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def get_servo_angle(self, servo_id=None, is_radian=None, is_real=False):
    """
    Get the servo angle

    Note:
        1. If the value you want returned should be in radians, set is_radian to True
          ex: code, angles = arm.get_servo_angle(is_radian=True)
        2. If you want to return only the angle of a single joint, please set the parameter servo_id
          ex: code, angle = arm.get_servo_angle(servo_id=2)
        3. This interface is only used in the base coordinate system.

    Args:
        servo_id: 1-(Number of axes), None(8), default is None

        is_radian: the returned value is in radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, list | float]): tuple((code, angle list if servo_id is None or 8 else angle)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.get_servo_angle(servo_id=servo_id, is_radian=is_radian, is_real=is_real)

get_servo_debug_msg(show=False, lang='en')

Get the servo debug msg, used only for debugging

Parameters:

Name	Type	Description	Default
show		show the detail info if True	False
lang		language, en/cn, default is en	'en'

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, servo_info_list)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def get_servo_debug_msg(self, show=False, lang='en'):
    """
    Get the servo debug msg, used only for debugging

    Args:
        show: show the detail info if True

        lang: language, en/cn, default is en

    Returns:
        out (tuple[int, list]): tuple((code, servo_info_list)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.get_servo_debug_msg(show=show, lang=lang)

get_servo_version(servo_id=1)

Get servo version, only for debug

Parameters:

Name	Type	Description	Default
servo_id		servo id(1~7)	1

Returns:

Name	Type	Description
out	tuple[int, str]	tuple((code, version))
code	int	See the API Code Documentation for details.
version	str	servo version

Source code in actions\settings.py

def get_servo_version(self, servo_id=1):
    """
    Get servo version, only for debug

    Args:
        servo_id: servo id(1~7)

    Returns:
        out (tuple[int, str]): tuple((code, version))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        version (str): servo version
    """
    return self.arm.get_servo_version(servo_id=servo_id)

get_state()

Get state

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, state)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
state	int	state - 1: in motion - 2: sleeping - 3: suspended - 4: stopping

Source code in actions\settings.py

def get_state(self):
    """
    Get state

    Returns:
        out (tuple[int, int]): tuple((code, state)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        state (int): state
            - 1: in motion
            - 2: sleeping
            - 3: suspended
            - 4: stopping
    """
    return self.arm.get_state()

get_tgpio_version()

Get tool gpio version, only for debug

Returns:

Name	Type	Description
out	tuple[int, str]	tuple((code, version))
code	int	See the API Code Documentation for details.
version	str	tool gpio version

Source code in actions\settings.py

def get_tgpio_version(self):
    """
    Get tool gpio version, only for debug

    Returns:
        out (tuple[int, str]): tuple((code, version))

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        version (str): tool gpio version
    """
    return self.arm.get_tgpio_version()

get_version()

Get the xArm firmware version

Returns:

Name	Type	Description
out	tuple[int, str]	tuple((code, version)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
version	str	firmware version, such as '6,9, ,XX0000,v2.4.0'

Source code in actions\settings.py

def get_version(self):
    """
    Get the xArm firmware version

    Returns:
        out (tuple[int, str]): tuple((code, version)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        version (str): firmware version, such as '6,9, ,XX0000,v2.4.0'
    """
    return self.arm.get_version()

iden_joint_friction(sn=None)

Identification of the friction

Note

1. only available if firmware_version >= 1.9.0

Parameters:

Name	Type	Description	Default
sn		sn value	None

Returns:

Name	Type	Description
out	tuple[int, int]	tuple((code, result)) returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
result	int	0: success -1: failure

Source code in actions\settings.py

def iden_joint_friction(self, sn=None):
    """
    Identification of the friction

    Note:
        1. only available if firmware_version >= 1.9.0

    Args:
        sn: sn value

    Returns:
        out (tuple[int, int]): tuple((code, result)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        result (int): 
            - 0: success
            - -1: failure
    """
    return self.arm.iden_joint_friction(sn)

iden_tcp_load(estimated_mass=0)

Identification the tcp load with current

Note

1. only available if firmware_version >= 1.8.0

Parameters:

Name	Type	Description	Default
estimated_mass		estimated mass Note: this parameter is only available on the lite6 model manipulator, and this parameter must be specified for the lite6 model manipulator	0

Returns:

Name	Type	Description
out	tuple[int, list]	tuple((code, load)) returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
load	list	[mass, x_centroid, y_centroid, z_centroid]

Source code in actions\settings.py

def iden_tcp_load(self, estimated_mass=0):
    """
    Identification the tcp load with current

    Note:
        1. only available if firmware_version >= 1.8.0

    Args:
        estimated_mass: estimated mass

            Note: this parameter is only available on the lite6 model manipulator, and this parameter must be specified for the lite6 model manipulator

    Returns:
        out (tuple[int, list]): tuple((code, load)) returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        load (list): [mass, x_centroid, y_centroid, z_centroid]

    """
    return self.arm.iden_tcp_load(estimated_mass)

is_joint_limit(joint, is_radian=None)

Check the joint angle is within limit

Parameters:

Name	Type	Description	Default
joint		[angle-1, angle-2, ..., angle-n], n is the number of axes of the arm	required
is_radian		angle value is radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, bool]	tuple((code, limit)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
limit	bool	True/False/None, limit or not, or failed

Source code in actions\settings.py

def is_joint_limit(self, joint, is_radian=None):
    """
    Check the joint angle is within limit

    Args:
        joint: [angle-1, angle-2, ..., angle-n], n is the number of axes of the arm

        is_radian: angle value is radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, bool]): tuple((code, limit)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        limit (bool): True/False/None, limit or not, or failed
    """
    return self.arm.is_joint_limit(joint, is_radian=is_radian)

is_tcp_limit(pose, is_radian=None)

Check the tcp pose is within limit

Parameters:

Name	Type	Description	Default
pose		[x, y, z, roll, pitch, yaw]	required
is_radian		roll/pitch/yaw value is radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
out	tuple[int, bool]	tuple((code, limit)), returned result is only corrent when code is 0.
code	int	See the API Code Documentation for details.
limit	bool	True/False/None, limit or not, or failed

Source code in actions\settings.py

def is_tcp_limit(self, pose, is_radian=None):
    """
    Check the tcp pose is within limit

    Args:
        pose: [x, y, z, roll, pitch, yaw]

        is_radian: roll/pitch/yaw value is radians or not, defaults to self.default_is_radian

    Returns:
        out (tuple[int, bool]): tuple((code, limit)), returned result is only corrent when code is 0.

        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.

        limit (bool): True/False/None, limit or not, or failed
    """
    return self.arm.is_tcp_limit(pose, is_radian=is_radian)

motion_enable(enable=True, servo_id=None)

Enable motion

Parameters:

Name	Type	Description	Default
enable		True/False	True
servo_id		1-(Number of axes), None(8)	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def motion_enable(self, enable=True, servo_id=None):
    """
    Enable motion

    Args:
        enable: True/False

        servo_id: 1-(Number of axes), None(8)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.motion_enable(servo_id=servo_id, enable=enable)

set_allow_approx_motion(on_off)

Settings to allow avoiding overspeed near some singularities using approximate solutions

Note

1. only available if firmware_version >= 1.9.0

Parameters:

Name	Type	Description	Default
on_off		whether to allow or not, True: allow, default is False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_allow_approx_motion(self, on_off):
    """
    Settings to allow avoiding overspeed near some singularities using approximate solutions

    Note:
        1. only available if firmware_version >= 1.9.0

    Args:
        on_off: whether to allow or not, True: allow, default is False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_allow_approx_motion(on_off)

set_baud_checkset_enable(enable)

Enable auto checkset the baudrate of the end IO board or not

Note

only available in the API of gripper/bio/robotiq/linear_motor.

Parameters:

Name	Type	Description	Default
enable		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_baud_checkset_enable(self, enable):
    """
    Enable auto checkset the baudrate of the end IO board or not

    Note:
        only available in the API of gripper/bio/robotiq/linear_motor.

    Args:
        enable: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_baud_checkset_enable(enable)

set_cartesian_velo_continuous(on_off)

Set cartesian motion velocity continuous

Note

1. only available if firmware_version >= 1.9.0

Parameters:

Name	Type	Description	Default
on_off		whether motion is continuous or not, True: continuous, defaults to False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_cartesian_velo_continuous(self, on_off):
    """
    Set cartesian motion velocity continuous

    Note:
        1. only available if firmware_version >= 1.9.0

    Args:
        on_off: whether motion is continuous or not, True: continuous, defaults to False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_cartesian_velo_continuous(on_off)

set_cgpio_analog_with_xyz(ionum, value, xyz, fault_tolerance_radius)

Set the analog value of the specified Controller GPIO when the robot has reached the specified xyz position

Parameters:

Name	Type	Description	Default
ionum		0 ~ 1	required
value		value	required
xyz		position xyz, as [x, y, z]	required
fault_tolerance_radius		fault tolerance radius	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_cgpio_analog_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
    """
    Set the analog value of the specified Controller GPIO when the robot has reached the specified xyz position           

    Args:
        ionum: 0 ~ 1

        value: value

        xyz: position xyz, as [x, y, z]

        fault_tolerance_radius: fault tolerance radius

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
    """
    return self.arm.set_cgpio_analog_with_xyz(ionum, value, xyz, fault_tolerance_radius)

set_cgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

Set the digital value of the specified Controller GPIO when the robot has reached the specified xyz position

Parameters:

Name	Type	Description	Default
ionum		0 ~ 15	required
value		value	required
xyz		position xyz, as [x, y, z]	required
fault_tolerance_radius		fault tolerance radius	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_cgpio_digital_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
    """
    Set the digital value of the specified Controller GPIO when the robot has reached the specified xyz position           

    Args:
        ionum: 0 ~ 15

        value: value

        xyz: position xyz, as [x, y, z]

        fault_tolerance_radius: fault tolerance radius

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.  
    """
    return self.arm.set_cgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

set_checkset_default_baud(type_, baud)

Set the checkset baud value

Parameters:

Name	Type	Description	Default
type_		checkset type - 1: xarm gripper - 2: bio gripper - 3: robotiq gripper - 4: linear motor	required
baud		checkset baud value, less than or equal to 0 means disable checkset	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_checkset_default_baud(self, type_, baud):
    """
    Set the checkset baud value

    Args:
        type_: checkset type
            - 1: xarm gripper
            - 2: bio gripper
            - 3: robotiq gripper
            - 4: linear motor

        baud: checkset baud value, less than or equal to 0 means disable checkset

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_checkset_default_baud(type_, baud)

set_cmd_mat_history_num(num)

Set cmd mat history num

Note

Only available if firmware_version >= 2.3.0

Parameters:

Name	Type	Description	Default
num		history num	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_cmd_mat_history_num(self, num):
    """
    Set cmd mat history num

    Note:
        Only available if firmware_version >= 2.3.0

    Args:
        num: history num

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_cmd_mat_history_num(num)

set_collision_rebound(on)

Turn on/off collision rebound

Note

1. This interface relies on Firmware 1.2.11 or above

Parameters:

Name	Type	Description	Default
on		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_collision_rebound(self, on):
    """
    Turn on/off collision rebound

    Note:
        1. This interface relies on Firmware 1.2.11 or above

    Args:
        on: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_collision_rebound(on)

set_collision_sensitivity(value, wait=True)

Set the sensitivity to collision

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
value		sensitivity value, 0~5	required
wait		reversed	True

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_collision_sensitivity(self, value, wait=True):
    """
    Set the sensitivity to collision

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        value: sensitivity value, 0~5

        wait: reversed

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_collision_sensitivity(value, wait=wait)

set_collision_tool_model(tool_type, *args, **kwargs)

Set the geometric model of the end effector for self collision detection

Parameters:

Name	Type	Description	Default
tool_type		the geometric model type 0: No end effector, no additional parameters required 1: xArm Gripper, no additional parameters required 2: xArm Vacuum Gripper, no additional parameters required 3: xArm Bio Gripper, no additional parameters required 4: Robotiq-2F-85 Gripper, no additional parameters required 5: Robotiq-2F-140 Gripper, no additional parameters required 7: Lite Gripper, no additional parameters required 8: Lite Vacuum Gripper, no additional parameters required 9: xArm Gripper G2, no additional parameters required 10: PGC-140-50 of the DH-ROBOTICS, no additional parameters required 11: RH56DFX-2L of the INSPIRE-ROBOTS, no additional parameters required 12: RH56DFX-2R of the INSPIRE-ROBOTS, no additional parameters required 13: xArm Bio Gripper G2, no additional parameters required 21: Cylinder, need additional parameters radius, height ex: self.set_collision_tool_model(21, radius=45, height=137) radius: the radius of cylinder, (mm) height: the height of cylinder, (mm) x_offset: offset in the x direction, (mm) y_offset: offset in the y direction, (mm) z_offset: offset in the z direction, (mm) 22: Cuboid, need additional parameters x, y, z ex: self.set_collision_tool_model(22, x=234, y=323, z=23) x: the length of the cuboid in the x coordinate direction, (mm) y: the length of the cuboid in the y coordinate direction, (mm) z: the length of the cuboid in the z coordinate direction, (mm) x_offset: offset in the x direction, (mm) y_offset: offset in the y direction, (mm) z_offset: offset in the z direction, (mm)	required
args		additional parameters	()
kwargs		additional parameters	{}

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_collision_tool_model(self, tool_type, *args, **kwargs):
    """
    Set the geometric model of the end effector for self collision detection

    Args:
        tool_type: the geometric model type

            - 0: No end effector, no additional parameters required

            - 1: xArm Gripper, no additional parameters required

            - 2: xArm Vacuum Gripper, no additional parameters required

            - 3: xArm Bio Gripper, no additional parameters required

            - 4: Robotiq-2F-85 Gripper, no additional parameters required

            - 5: Robotiq-2F-140 Gripper, no additional parameters required

            - 7: Lite Gripper, no additional parameters required

            - 8: Lite Vacuum Gripper, no additional parameters required

            - 9: xArm Gripper G2, no additional parameters required

            - 10: PGC-140-50 of the DH-ROBOTICS, no additional parameters required

            - 11: RH56DFX-2L of the INSPIRE-ROBOTS, no additional parameters required

            - 12: RH56DFX-2R of the INSPIRE-ROBOTS, no additional parameters required

            - 13: xArm Bio Gripper G2, no additional parameters required

            - 21: Cylinder, need additional parameters radius, height 

                - ex: self.set_collision_tool_model(21, radius=45, height=137)

                - radius: the radius of cylinder, (mm)

                - height: the height of cylinder, (mm)

                - x_offset: offset in the x direction, (mm)

                - y_offset: offset in the y direction, (mm)

                - z_offset: offset in the z direction, (mm)

            - 22: Cuboid, need additional parameters x, y, z

                - ex: self.set_collision_tool_model(22, x=234, y=323, z=23)

                - x: the length of the cuboid in the x coordinate direction, (mm)

                - y: the length of the cuboid in the y coordinate direction, (mm)

                - z: the length of the cuboid in the z coordinate direction, (mm)

                - x_offset: offset in the x direction, (mm)

                - y_offset: offset in the y direction, (mm)

                - z_offset: offset in the z direction, (mm)

        args: additional parameters

        kwargs: additional parameters

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_collision_tool_model(tool_type, *args, **kwargs)

set_counter_increase(val=1)

Set counter plus value, only supports increasing by 1

Parameters:

Name	Type	Description	Default
val		reversed	1

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_counter_increase(self, val=1):
    """
    Set counter plus value, only supports increasing by 1

    Args:
        val: reversed

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_counter_increase(val)

set_counter_reset()

Reset counter value

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_counter_reset(self):
    """
    Reset counter value

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_counter_reset()

set_dh_params(dh_params, flag=0)

Set the DH parameters

Note

1. only available if firmware_version >= 2.0.0
2. this interface is only provided for users who need to use external DH parameters, ordinary users should not try to modify DH parameters.

Parameters:

Name	Type	Description	Default
dh_params		DH parameters	required
flag		0: Use the set DH parameters, but do not write to the configuration file 1: Use the set DH parameters and write to the configuration file 2: Use the set DH parameters and delete the DH parameters of the configuration file 3: Use the default DH parameters, but will not delete the DH parameters of the configuration file 4: Use the default DH parameters and delete the DH parameters of the configuration file	0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_dh_params(self, dh_params, flag=0):
    """
    Set the DH parameters

    Note:
        1. only available if firmware_version >= 2.0.0
        2. this interface is only provided for users who need to use external DH parameters, ordinary users should not try to modify DH parameters.

    Args:
        dh_params: DH parameters

        flag: 
            - 0: Use the set DH parameters, but do not write to the configuration file
            - 1: Use the set DH parameters and write to the configuration file
            - 2: Use the set DH parameters and delete the DH parameters of the configuration file
            - 3: Use the default DH parameters, but will not delete the DH parameters of the configuration file
            - 4: Use the default DH parameters and delete the DH parameters of the configuration file

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_dh_params(dh_params, flag) 

set_external_device_monitor_params(dev_type, frequency)

Set the monitor params of the external device

Note

1. only available if firmware_version >= 2.7.100
2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000
3. once an error occurs, you need to re call to monitor

Parameters:

Name	Type	Description	Default
dev_type		the type of the external device 0: Turn off monitoring 1: xArm Gripper 2: xArm Gripper G2 3: BIO Gripper G2 4: Robotiq 2F-85/Robotiq 2F-140	required
frequency		the frequency of communication with the external device	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_external_device_monitor_params(self, dev_type, frequency):
    """
    Set the monitor params of the external device

    Note:
        1. only available if firmware_version >= 2.7.100
        2. after it is turned on, the position/speed/current information of the external device will be reported through port 30000
        3. once an error occurs, you need to re call to monitor

    Args:
        dev_type: the type of the external device

            - 0: Turn off monitoring

            - 1: xArm Gripper

            - 2: xArm Gripper G2

            - 3: BIO Gripper G2

            - 4: Robotiq 2F-85/Robotiq 2F-140

        frequency: the frequency of communication with the external device

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_external_device_monitor_params(dev_type, frequency)

set_fdb_mat_history_num(num)

Set fdb mat history num

Note

Only available if firmware_version >= 2.3.0

Parameters:

Name	Type	Description	Default
num		history num	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_fdb_mat_history_num(self, num):
    """
    Set fdb mat history num

    Note:
        Only available if firmware_version >= 2.3.0

    Args:
        num: history num

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_fdb_mat_history_num(num)

set_feedback_type(feedback_type)

Set the feedback type

Note

1. only available if firmware_version >= 2.1.0
2. only works in position mode
3. the setting will only affect subsequent tasks and will not affect previously cached tasks
4. only valid for the current connection

Parameters:

Name	Type	Description	Default
feedback_type		0: disable feedback 1: feedback when the motion task starts executing 2: feedback when the motion task execution ends or motion task is discarded(usually when the distance is too close to be planned) 4: feedback when the non-motion task is triggered	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_feedback_type(self, feedback_type):
    """
    Set the feedback type

    Note:
        1. only available if firmware_version >= 2.1.0
        2. only works in position mode
        3. the setting will only affect subsequent tasks and will not affect previously cached tasks
        4. only valid for the current connection

    Args:
        feedback_type:
            - 0: disable feedback
            - 1: feedback when the motion task starts executing
            - 2: feedback when the motion task execution ends or motion task is discarded(usually when the distance is too close to be planned)
            - 4: feedback when the non-motion task is triggered

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_feedback_type(feedback_type)

set_fence_mode(on)

Turn on/off fence mode

Note

1. This interface relies on Firmware 1.2.11 or above

Parameters:

Name	Type	Description	Default
on		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_fence_mode(self, on):
    """
    Turn on/off fence mode

    Note:
        1. This interface relies on Firmware 1.2.11 or above

    Args:
        on: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_fense_mode(on)

set_gravity_direction(direction, wait=True)

Set the gravity direction for proper torque compensation and collision detection.

Note

1. Use only if necessary. Incorrect settings may affect torque compensation.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
direction		Gravity direction vector [x, y, z], e.g., [0, 0, -1] for a floor-mounted arm.	required
wait		Whether to wait for the robotic arm to stop or clear all previous queued commands before applying the setting.	True

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_gravity_direction(self, direction, wait=True):
    """
    Set the gravity direction for proper torque compensation and collision detection.

    Note:
        1. Use only if necessary. Incorrect settings may affect torque compensation.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        direction: Gravity direction vector [x, y, z], e.g., [0, 0, -1] for a floor-mounted arm.

        wait: Whether to wait for the robotic arm to stop or clear all previous queued commands before applying the setting.

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_gravity_direction(direction=direction, wait=wait)

set_initial_point(point)

Set the initial point

Parameters:

Name	Type	Description	Default
point		initial point, [J1, J2, ..., J7]	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_initial_point(self, point):
    """
    Set the initial point

    Args:
        point: initial point, [J1, J2, ..., J7]

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
    """
    return self.arm._studio.set_initial_point(point)

set_joint_jerk(jerk, is_radian=None)

Set the jerk of Joint space

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
jerk		jerk (°/s^3 or rad/s^3)	required
is_radian		if the jerk is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_joint_jerk(self, jerk, is_radian=None):
    """
    Set the jerk of Joint space

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        jerk: jerk (°/s^3 or rad/s^3)

        is_radian: if the jerk is in radians or not, defaults to self.default_is_radian

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_joint_jerk(jerk, is_radian=is_radian)

set_joint_maxacc(acc, is_radian=None)

Set the max acceleration of Joint space

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
acc		max acceleration (°/s^2 or rad/s^2)	required
is_radian		if the jerk is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_joint_maxacc(self, acc, is_radian=None):
    """
    Set the max acceleration of Joint space

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        acc: max acceleration (°/s^2 or rad/s^2)

        is_radian: if the jerk is in radians or not, defaults to self.default_is_radian

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_joint_maxacc(acc, is_radian=is_radian)

set_linear_spd_limit_factor(factor)

Set linear speed limit factor (default is 1.2)

Note

1. only available if firmware_version >= 2.3.0
2. only available in mode 1

Parameters:

Name	Type	Description	Default
factor		speed limit factor	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_linear_spd_limit_factor(self, factor):
    """
    Set linear speed limit factor (default is 1.2)

    Note:
        1. only available if firmware_version >= 2.3.0
        2. only available in mode 1

    Args:
        factor: speed limit factor

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_linear_spd_limit_factor(factor)

set_mode(mode=0, detection_param=0)

Set the xArm mode

Parameters:

Name	Type	Description	Default
mode		default 0 0: position control 1: servo motion Note: the use of the set_servo_angle_j interface must first be set to this Note: the use of the set_servo_cartesian interface must first be set to this 2: joint teaching Note: use this mode to ensure that the arm has been identified and the control box and arm used for identification are one-to-one. 3: cartesian teaching (invalid) 4: joint velocity control 5: cartesian velocity control 6: joint online trajectory planning 7: cartesian online trajectory planning	0
detection_param		Teaching detection parameters, default is 0 0: motion detection on 1: motion detection off Note: only available if firmware_version >= 1.10.1 only available if set_mode(2)	0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_mode(self, mode=0, detection_param=0):
    """
    Set the xArm mode

    Args:
        mode: default 0

            0: position control

            1: servo motion

            Note: the use of the set_servo_angle_j interface must first be set to this

            Note: the use of the set_servo_cartesian interface must first be set to this

            2: joint teaching

            Note: use this mode to ensure that the arm has been identified and the control box and arm used for identification are one-to-one.

            3: cartesian teaching (invalid)

            4: joint velocity control

            5: cartesian velocity control

            6: joint online trajectory planning

            7: cartesian online trajectory planning

        detection_param: Teaching detection parameters, default is 0

            0: motion detection on

            1: motion detection off

            Note:

            1. only available if firmware_version >= 1.10.1

            2. only available if set_mode(2)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_mode(mode=mode, detection_param=detection_param)

set_mount_direction(base_tilt_deg, rotation_deg, is_radian=None)

Set the mount direction

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
base_tilt_deg		tilt degree	required
rotation_deg		rotation degree	required
is_radian		if the base_tilt_deg/rotation_deg is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_mount_direction(self, base_tilt_deg, rotation_deg, is_radian=None):
    """
    Set the mount direction

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        base_tilt_deg: tilt degree

        rotation_deg: rotation degree

        is_radian: if the base_tilt_deg/rotation_deg is in radians or not, defaults to self.default_is_radian

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_mount_direction(base_tilt_deg, rotation_deg, is_radian=is_radian)

set_only_check_type(only_check_type=0)

Set the motion process detection type (valid for all motion interfaces of the current SDK instance)

Note

1. only available if firmware_version >= 1.11.100
2. This interface is a global configuration item of the current SDK, and affects all motion-related interfaces
3. Generally, you only need to call when you don't want to move the robotic arm and only check whether some paths will have self-collision/angle-limit/cartesian-limit/overspeed.
4. Currently only self-collision/angle-limit/cartesian-limit/overspeed are detected
5. If only_check_type is set to be greater than 0, and the return value of calling the motion interface is not 0, you can view arm.only_check_result to view the specific error code

(Common scenarios, here is an example of the set_position interface)

• 1. Check whether the process from point A to point B is normal (no self-collision and overspeed triggered)

  2. 1.1 Move to point A

     • arm.set_only_check_type(0)

     • code = arm.set_position(A)

  3. 1.2 Check if the process from point A to point B is normal (no self-collision and overspeed triggered)

     • arm.set_only_check_type(1)

     • code = arm.set_position(B)

     • If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

     • arm.set_only_check_type(0)

• 1. Check whether the process from point A to point B, C, and D to point E is normal (no self-collision and overspeed are triggered)

  2. 2.1 Move to point A

     • arm.set_only_check_type(0)

     • code = arm.set_position(A)

  3. 2.2 Check whether the process of point A passing through points B, C, D to point E is normal (no self-collision and overspeed are triggered)

     • arm.set_only_check_type(3)

     • code = arm.set_position(B)

     • If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

     • code = arm.set_position(C)

     • If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

     • code = arm.set_position(D)

     • If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

     • code = arm.set_position(E)

     • If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

     • arm.set_only_check_type(0)

Parameters:

Name	Type	Description	Default
only_check_type		Motion Detection Type only_check_type == 0: Restore the original function of the motion interface, it will move, the default is 0 only_check_type == 1: Only check the self-collision without moving, take the actual state of the manipulator as the initial planned path, and check whether the path has self-collision (the intermediate state will be updated at this time) only_check_type == 2: Only check the self-collision without moving, use the intermediate state as the starting planning path, check whether the path has self-collision (the intermediate state will be updated at this time), and restore the intermediate state to the actual state after the end only_check_type == 3: Only check the self-collision without moving, use the intermediate state as the starting planning path, and check whether the path has self-collision (the intermediate state will be updated at this time)	0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_only_check_type(self, only_check_type=0):
    """
    Set the motion process detection type (valid for all motion interfaces of the current SDK instance)

    Note:
        1. only available if firmware_version >= 1.11.100
        2. This interface is a global configuration item of the current SDK, and affects all motion-related interfaces
        3. Generally, you only need to call when you don't want to move the robotic arm and only check whether some paths will have self-collision/angle-limit/cartesian-limit/overspeed.
        4. Currently only self-collision/angle-limit/cartesian-limit/overspeed are detected
        5. If only_check_type is set to be greater than 0, and the return value of calling the motion interface is not 0, you can view arm.only_check_result to view the specific error code

    Example: (Common scenarios, here is an example of the set_position interface)
        - 1. Check whether the process from point A to point B is normal (no self-collision and overspeed triggered)

            - 1.1 Move to point A

                - arm.set_only_check_type(0)

                - code = arm.set_position(A)

            - 1.2 Check if the process from point A to point B is normal (no self-collision and overspeed triggered)

                - arm.set_only_check_type(1)

                - code = arm.set_position(B)

                - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                - arm.set_only_check_type(0)


        - 2. Check whether the process from point A to point B, C, and D to point E is normal (no self-collision and overspeed are triggered)

            - 2.1 Move to point A

                - arm.set_only_check_type(0)

                - code = arm.set_position(A)

            - 2.2 Check whether the process of point A passing through points B, C, D to point E is normal (no self-collision and overspeed are triggered)

                - arm.set_only_check_type(3)

                - code = arm.set_position(B)

                - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                - code = arm.set_position(C)

                - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                - code = arm.set_position(D)

                - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                - code = arm.set_position(E)

                - If code is not equal to 0, it means that the path does not pass. You can check the specific error code through arm.only_check_result

                - arm.set_only_check_type(0)

    Args:
        only_check_type: Motion Detection Type

            - only_check_type == 0: Restore the original function of the motion interface, it will move, the default is 0

            - only_check_type == 1: Only check the self-collision without moving, take the actual state of the manipulator as the initial planned path, and check whether the path has self-collision (the intermediate state will be updated at this time)

            - only_check_type == 2: Only check the self-collision without moving, use the intermediate state as the starting planning path, check whether the path has self-collision (the intermediate state will be updated at this time), and restore the intermediate state to the actual state after the end

            - only_check_type == 3: Only check the self-collision without moving, use the intermediate state as the starting planning path, and check whether the path has self-collision (the intermediate state will be updated at this time)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_only_check_type(only_check_type)

set_pause_time(sltime, wait=False)

Set the arm pause time, xArm will pause sltime second

Parameters:

Name	Type	Description	Default
sltime		sleep time,unit:(s)second	required
wait		wait or not, default is False	False

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_pause_time(self, sltime, wait=False):
    """
    Set the arm pause time, xArm will pause sltime second

    Args:
        sltime: sleep time,unit:(s)second

        wait: wait or not, default is False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_pause_time(sltime=sltime, wait=wait)

set_reduced_joint_range(joint_range, is_radian=None)

Set the joint range of the reduced mode

Note

1. This interface relies on Firmware 1.2.11 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True))

Parameters:

Name	Type	Description	Default
joint_range		[joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]	required
is_radian		the param joint_range are in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_reduced_joint_range(self, joint_range, is_radian=None):
    """
    Set the joint range of the reduced mode

    Note:
        1. This interface relies on Firmware 1.2.11 or above
        2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

    Args:
        joint_range: [joint-1-min, joint-1-max, ..., joint-7-min, joint-7-max]

        is_radian: the param joint_range are in radians or not, defaults to self.default_is_radian

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_reduced_joint_range(joint_range, is_radian=is_radian)

set_reduced_max_joint_speed(speed, is_radian=None)

Set the maximum joint speed of the reduced mode

Note

1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True))

Parameters:

Name	Type	Description	Default
speed		speed (°/s or rad/s)	required
is_radian		the speed is in radians or not, defaults to self.default_is_radian	None

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_reduced_max_joint_speed(self, speed, is_radian=None):
    """
    Set the maximum joint speed of the reduced mode

    Note:
        1. This interface relies on Firmware 1.2.0 or above
        2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

    Args:
        speed: speed (°/s or rad/s)

        is_radian: the speed is in radians or not, defaults to self.default_is_radian

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_reduced_max_joint_speed(speed, is_radian=is_radian)

set_reduced_max_tcp_speed(speed)

Set the maximum tcp speed of the reduced mode

Note

1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True))

Parameters:

Name	Type	Description	Default
speed		speed (mm/s)	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_reduced_max_tcp_speed(self, speed):
    """
    Set the maximum tcp speed of the reduced mode

    Note:
        1. This interface relies on Firmware 1.2.0 or above
        2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

    Args:
        speed: speed (mm/s)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_reduced_max_tcp_speed(speed)

set_reduced_tcp_boundary(boundary)

Set the boundary of the safety boundary mode

Note

1. This interface relies on Firmware 1.2.0 or above
2. Only reset the reduced mode to take effect (set_reduced_mode(True))

Parameters:

Name	Type	Description	Default
boundary		[x_max, x_min, y_max, y_min, z_max, z_min]	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_reduced_tcp_boundary(self, boundary):
    """
    Set the boundary of the safety boundary mode

    Note:
        1. This interface relies on Firmware 1.2.0 or above
        2. Only reset the reduced mode to take effect (`set_reduced_mode(True)`)

    Args:
        boundary: [x_max, x_min, y_max, y_min, z_max, z_min]

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_reduced_tcp_boundary(boundary)

set_report_tau_or_i(tau_or_i=0)

Set if torque or electric current is reported

Parameters:

Name	Type	Description	Default
tau_or_i		0: torque 1: electric current	0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_report_tau_or_i(self, tau_or_i=0):
    """
    Set if torque or electric current is reported

    Args:
        tau_or_i: 
            - 0: torque
            - 1: electric current

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_report_tau_or_i(tau_or_i=tau_or_i)

set_self_collision_detection(on_off)

Set whether to enable self-collision detection

Parameters:

Name	Type	Description	Default
on_off		enable or not	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_self_collision_detection(self, on_off):
    """
    Set whether to enable self-collision detection 

    Args:
        on_off: enable or not

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_self_collision_detection(on_off)

set_simulation_robot(on_off)

Set the simulation robot

Parameters:

Name	Type	Description	Default
on_off		True/False	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_simulation_robot(self, on_off):
    """
    Set the simulation robot

    Args:
        on_off: True/False

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_simulation_robot(on_off)

set_state(state=0)

Set the xArm state

Parameters:

Name	Type	Description	Default
state		default 0 0: motion state 3: pause state 4: stop state 6: deceleration stop state	0

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_state(self, state=0):
    """
    Set the xArm state

    Args:
        state: default 0

            - 0: motion state

            - 3: pause state

            - 4: stop state

            - 6: deceleration stop state

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_state(state=state)

set_tcp_jerk(jerk)

Set the translational jerk of Cartesian space

Note

1. Do not use if not required
2. If not saved, it will be lost after reboot
3. The save_conf interface can record the current settings and will not be lost after the restart.
4. The clean_conf interface can restore system default settings

Parameters:

Name	Type	Description	Default
jerk		jerk (mm/s^3)	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_tcp_jerk(self, jerk):
    """
    Set the translational jerk of Cartesian space

    Note:
        1. Do not use if not required
        2. If not saved, it will be lost after reboot
        3. The save_conf interface can record the current settings and will not be lost after the restart.
        4. The clean_conf interface can restore system default settings

    Args:
        jerk: jerk (mm/s^3)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_tcp_jerk(jerk)

set_tcp_load(weight, center_of_gravity, wait=False, **kwargs)

Set the end load of xArm

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
weight		load weight (unit: kg)	required
center_of_gravity		load center of gravity, such as [x(mm), y(mm), z(mm)]	required
wait		whether to wait for the command to be executed or for the robotic arm to stop	False

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_tcp_load(self, weight, center_of_gravity, wait=False, **kwargs):
    """
    Set the end load of xArm

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        weight: load weight (unit: kg)

        center_of_gravity: load center of gravity, such as [x(mm), y(mm), z(mm)]

        wait: whether to wait for the command to be executed or for the robotic arm to stop

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_tcp_load(weight, center_of_gravity, wait=wait, **kwargs)

set_tcp_maxacc(acc)

Set the max translational acceleration of Cartesian space

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
acc		max acceleration (mm/s^2)	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_tcp_maxacc(self, acc):
    """
    Set the max translational acceleration of Cartesian space

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        acc: max acceleration (mm/s^2)

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_tcp_maxacc(acc)

set_tcp_offset(offset, is_radian=None, wait=True, **kwargs)

Set the tool coordinate system offset at the end

Note

1. Do not use if not required
2. If not saved and you want to revert to the last saved value, please reset the offset by set_tcp_offset([0, 0, 0, 0, 0, 0])
3. If not saved, it will be lost after reboot
4. The save_conf interface can record the current settings and will not be lost after the restart.
5. The clean_conf interface can restore system default settings

Parameters:

Name	Type	Description	Default
offset		[x, y, z, roll, pitch, yaw]	required
is_radian		the roll/pitch/yaw in radians or not, defaults to self.default_is_radian	None
wait		whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting	True

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_tcp_offset(self, offset, is_radian=None, wait=True, **kwargs):
    """
    Set the tool coordinate system offset at the end

    Note:
        1. Do not use if not required
        2. If not saved and you want to revert to the last saved value, please reset the offset by set_tcp_offset([0, 0, 0, 0, 0, 0])
        3. If not saved, it will be lost after reboot
        4. The save_conf interface can record the current settings and will not be lost after the restart.
        5. The clean_conf interface can restore system default settings

    Args:
        offset: [x, y, z, roll, pitch, yaw]

        is_radian: the roll/pitch/yaw in radians or not, defaults to self.default_is_radian

        wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_tcp_offset(offset, is_radian=is_radian, wait=wait, **kwargs)

set_teach_sensitivity(value, wait=True)

Set the sensitivity of drag and teach

Note

1. Use only if necessary.
2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
3. Use clean_conf() to restore the system default settings.

Parameters:

Name	Type	Description	Default
value		sensitivity value, 1~5	required
wait		whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting	True

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_teach_sensitivity(self, value, wait=True):
    """
    Set the sensitivity of drag and teach

    Note:
        1. Use only if necessary.
        2. Changes are not saved automatically. Call save_conf() to save the settings, otherwise they will be lost after a reboot.
        3. Use clean_conf() to restore the system default settings.

    Args:
        value: sensitivity value, 1~5

        wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed or cleared before setting

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_teach_sensitivity(value, wait=wait)

set_tgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

Set the digital value of the specified Tool GPIO when the robot has reached the specified xyz position

Parameters:

Name	Type	Description	Default
ionum		0 or 1	required
value		value	required
xyz		position xyz, as [x, y, z]	required
fault_tolerance_radius		fault tolerance radius	required

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_tgpio_digital_with_xyz(self, ionum, value, xyz, fault_tolerance_radius):
    """
    Set the digital value of the specified Tool GPIO when the robot has reached the specified xyz position           

    Args:
        ionum: 0 or 1

        value: value

        xyz: position xyz, as [x, y, z]

        fault_tolerance_radius: fault tolerance radius

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details. 
    """
    return self.arm.set_tgpio_digital_with_xyz(ionum, value, xyz, fault_tolerance_radius)

set_timeout(timeout)

Set the timeout of cmd response

Parameters:

Name	Type	Description	Default
timeout		seconds	required

Source code in actions\settings.py

def set_timeout(self, timeout):
    """
    Set the timeout of cmd response

    Args:
        timeout: seconds
    """
    return self.arm.set_timeout(timeout)

set_world_offset(offset, is_radian=None, wait=True)

Set the base coordinate offset

Note

1. This interface relies on Firmware 1.2.11 or above

Parameters:

Name	Type	Description	Default
offset		[x, y, z, roll, pitch, yaw]	required
is_radian		if the roll/pitch/yaw is in radians or not, defaults to self.default_is_radian	None
wait		whether to wait for the robotic arm to stop or all previous queue commands to be executed/cleared before setting	True

Returns:

Name	Type	Description
code	int	See the API Code Documentation for details.

Source code in actions\settings.py

def set_world_offset(self, offset, is_radian=None, wait=True):
    """
    Set the base coordinate offset

    Note:
        1. This interface relies on Firmware 1.2.11 or above

    Args:
        offset: [x, y, z, roll, pitch, yaw]

        is_radian: if the roll/pitch/yaw is in radians or not, defaults to self.default_is_radian

        wait: whether to wait for the robotic arm to stop or all previous queue commands to be executed/cleared before setting

    Returns:
        code (int): See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
    """
    return self.arm.set_world_offset(offset, is_radian=is_radian, wait=wait)