This project is a fork and thin wrapper around the uArm-Python-SDK from uFactory. The goal of this fork is to create a more intuitive and easier to use set of controls for the uArm Swift/SwiftPro, built on-top of the original Python API from uFactory.
Because this wrapper inherits from the original Python SDK from uFactory, all of their methods and functionalities are still available through this interface.
robot = uarm_scan_and_connect()
robot.home()
robot.move_to(x=150, y=20, z=10)
robot.pump(True)
robot.move_relative(y=-40, z=60)
robot.pump(False)
robot.sleep()The wrapper also adds the ability to record and playback movements, through user-controlled motions while the motors are off. This makes orchestrating more complex motions much easier.
To record movements, run the recording script:
python -m uarm.record <RECORDING-NAME>And then playback those recordings in your script:
robot = uarm_scan_and_connect()
robot.home()
robot.playback('move-to-pen-holder')
robot.grip(True)
robot.playback('pick-up-pen')
robot.move_to(x=150, y=0, z=0)
robot.playback('draw-happy-face', relative=True)
robot.playback('move-to-pen-holder')
robot.grip(False)
robot.playback('release-pen')
robot.sleep()It also includes an interface for using the OpenMV camera to detect object's positions, and translate them into the uArm's coordinate system for easier manipulation:
robot = uarm_scan_and_connect()
camera = openmv.OpenMV(robot)
camera.move_to(x=150, y=0, z=120) # move high up
image_pos = camera.read_json() # read from the camera
object_pos = camera.position_from_image(**image_pos)
robot.move_to(**object_pos).pump(True) # pick it up
robot.move_relative(z=20)
robot.pump(False) # drop itSome simple examples are included to show how the API wrapper can easily be used for simple movements and controls of the uArm Swift Pro:
- Connecting to a uArm
- Simulate for Unplugged Testing
- Move the Arm
- Speed and Acceleration
- Rotate the Wrist
- Pick Up Items
- Recording and Playback Movements
- Recording CLI Tool
- OpenMV Camera
- Remote Control Over a Network
- Using Original SwiftAPI Commands
The API reference documentation can be found here, which include methods and attributes of the SwiftAPIWrapper class.
This repository also include PDF guides distrubuted by uFactory, which are located in this folder.
Some configuration of the uArm and an attached OpenMV camera can be calibrated to make it more accurate. Read more about how to calibrate here.
The uArm Swift Pro has a few unique attributes and behaviors, which need to be understood before using the device. Here is a document describing the quirks and issues I've found while developing on this device.
- When Powering
- When Connecting
- Overheating
- Positions and Encoders
- Reachable Coordinates
- Buttons and GPIO Nonfunctional
- Arched Movements
- Occasional Pauses
- Camera Mounting
It is recommended to read through this list before using the uArm Swift Pro and this Python wrapper.
Keeping track of features to be added to this wrapper.
- Detect skipped steps and auto-adjust, using built-in rotary encoders
Feature ideas for being able to run API methods over a network. The goal being that the uArm can be controlled from a web browser or tools like NodeJS, Max/MSP/Jitter, and P5.js
- Remote control over:
OSC- Websocket
- Remote client libraries:
- NodeJS (Websockets & OSC)
- Browser (Websockets)
- Max/MSP/Jitter (OSC)
You can install through pip, or by cloning this repository and installing locally.
To install through pip, run:
pip install git+git://github.com/andySigler/uArm-Swift-Wrapper.git@master#egg=uArm-Swift-Wrapper
To install by cloning the repository, run:
git clone https://github.com/andySigler/uArm-Swift-Wrapper.git
cd uArm-Swift-Wrapper
python setup.py install
For consistancy, this Python wrapper requires the connected uArm Swift Pro to have firmware verion 4.5.0 flashed to the device. To help, this repository includes a script for updating a connected uArm Swift Pro to version 4.5.0.
First, the script uses avrdude to flash the firmware to the uArm at the specified port. If you do not have avrdude already installed, you can install using Homebrew as follows:
brew install avrdude
Second, connect the uArm to your computer over USB and power the uArm on.
Finally, run the script:
bin/firmware/flash <PORT>`
The <PORT> argument is the name of the serial port the uArm occupies on your operating system. For example, on my Macbook, the command looks like:
bin/firmware/flash /dev/tty.usbmodem1417501
Or on Windows:
bin/firmware/flash COM2
uArm-Python-SDK is published under the BSD license