Metadata-Version: 2.3
Name: armctl
Version: 0.4.0
Summary: Agnostic Robotic Manipulation Controller (armctl)
Keywords: robotics,socket,control,automation,ur,universal robotics,jaka,dobot,elephant robotics,vention,fanuc
Author: Michael Gross
Author-email: Michael Gross <MGross21@users.noreply.github.com>
License: MIT License
         
         Copyright (c) 2025 Michael Gross
         
         Permission is hereby granted, free of charge, to any person obtaining a copy
         of this software and associated documentation files (the "Software"), to deal
         in the Software without restriction, including without limitation the rights
         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
         copies of the Software, and to permit persons to whom the Software is
         furnished to do so, subject to the following conditions:
         
         The above copyright notice and this permission notice shall be included in all
         copies or substantial portions of the Software.
         
         THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
         IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
         FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
         LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
         OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
         SOFTWARE.
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: OS Independent
Classifier: Development Status :: 4 - Beta
Requires-Dist: urrtde
Requires-Dist: typer>=0.9.0
Requires-Dist: pyserial>=3.5
Requires-Dist: zaber-motion>=2.13.1
Requires-Python: >=3.6
Project-URL: Homepage, https://github.com/MGross21/armctl
Project-URL: Issues, https://github.com/MGross21/armctl/issues
Description-Content-Type: text/markdown

<div align="center">
    <h1><img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/logo/armctl_logo_orange.png" alt="armctl" width="300px"></h1>
</div>

<p align="center">
  <!-- <img src="https://github.com/MGross21/armctl/actions/workflows/ci.yml/badge.svg" alt="Build Status"> -->
  <img src="https://img.shields.io/badge/python-3-orange.svg" alt="Python Version">
  <img src="https://img.shields.io/github/license/MGross21/armctl?color=orange" alt="License">
  <a href="https://pypi.org/project/armctl/"><img src="https://static.pepy.tech/personalized-badge/armctl?period=total&left_color=gray&right_color=orange&left_text=downloads" alt="Downloads"></a>
</p>

A unified Python interface for controlling a variety of industrial and hobbyist robots from different manufacturers.

## Supported Manufacturers & Robot Series

The `armctl` library currently supports the following manufacturers and robot models:

<table>
  <tr>
    <td align="center" width="33%">
      <a href="https://www.universal-robots.com"><b>Universal Robots</b></a>
    </td>
    <td align="center" width="33%">
      <a href="https://vention.io"><b>Vention</b></a>
    </td>
    <td align="center" width="33%">
      <a href="https://www.elephantrobotics.com/en/"><b>Elephant Robotics</b></a>
    </td>
  </tr>
  <tr>
    <td align="center">
      <sub>UR3, UR5, UR5e, UR10, UR16</sub>
    </td>
    <td align="center">
      <sub>7th Axis Plate</sub>
    </td>
    <td align="center">
      <sub>myCobot Pro600</sub>
    </td>
  </tr>
  <tr>
    <td align="center">
      <img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/gifs/ur5.gif" alt="UR5" width="250">
    </td>
    <td align="center">
      <img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/gifs/vention.gif" alt="Vention Plate" width="250">
    </td>
    <td align="center">
      <img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/gifs/elephant_pro600.gif" alt="Elephant myCobot Pro600" width="250">
    </td>
  </tr>
</table>

> **Want to see your robot supported?**  
> [Open an issue](https://github.com/MGross21/armctl/issues) or contribute a pull request!

## Quick Start

### Installation

*From PyPI:*

```bash
pip install armctl
```

*From GitHub:*

```bash
pip install git+https://github.com/MGross21/armctl.git
```

### Importing the Library

```python
from armctl import *
```

> **Note:**  
> For improved runtime performance and clarity, you may import specific manufacturers and robot series directly.

### Simple Example with Manufacturer Defaults

```python
with Manufacturer("ROBOT_IP_ADDRESS") as robot:
    robot.move_joints([...])
    robot.get_joint_positions()
    robot.move_cartesian([...])
    robot.get_cartesian_position(...)
    robot.sleep(...)
    robot.get_robot_state()
```

### Simple Example with Specific Robot Series

```python
with RobotSeries("ROBOT_IP_ADDRESS") as robot:
    robot.home()
    robot.move_joints([...])
    robot.get_joint_positions()
    robot.move_cartesian([...])
    robot.get_cartesian_position()
    robot.sleep(...)
    robot.get_robot_state()
```

### Multi-Robot Control

<img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/gifs/ur5_vention.gif" alt="UR5 on Vention Plate" width="400">

```python
with (
  Robot1("ROBOT1_IP_ADDRESS") as r1,
  Robot2("ROBOT2_IP_ADDRESS") as r2,
):
    r1.home()
    r2.home()

    r1.move_joints([...])
    r2.move_joints([...])
```

> **Tip:**  
> For more precise and synchronous control of two or more robots, it is recommended to manage each robot within its own thread or process.

#### Multithread Control

Replicating the prior example,

```python
import threading

def control_robot(robot, ip):
  with robot(ip) as r:
    r.home()
    r.move_joints([0] * r.DOF)

threads = [
  threading.Thread(target=control_robot, args=(Robot1, "ROBOT1_IP")),
  threading.Thread(target=control_robot, args=(Robot2, "ROBOT2_IP"))
]

for t in threads:
  t.start()
for t in threads:
  t.join()
```

## API Reference

> **Note:**  
> The API has been designed for maximum compatibility across supported robots. Additional commands, such as gripper controls and other advanced features, are planned for future releases to further expand functionality.

### Control Template

The following methods are available to users of the library to control various supported robots.

| Method Name                  | Description                                                                 |
|------------------------------|-----------------------------------------------------------------------------|
| `move_joints(pos)`           | Move the robot to specified joint positions.                                |
| `get_joint_positions()`      | Retrieve the current joint positions of the robot.                          |
| `move_cartesian(pose)`       | Move the robot to a specified Cartesian pose.                               |
| `get_cartesian_position()`   | Retrieve the current Cartesian position of the robot.                       |
| `stop_motion()`              | Stop all robot motion immediately.                                          |
| `get_robot_state()`          | Retrieve the current state of the robot.                                    |
| `sleep(seconds)`             | Pause execution for a specified number of seconds.                          |
| `home()` </br> <sub>*(Available only for specific robot series, not for generic manufacturer control)*</sub> | Move the robot to its home position. |

<details><summary><strong>Robot Homing Behavior</strong></summary>

The "home" position refers to a predefined, manufacturer-specific pose that is safe and repeatable for initialization and calibration.

```txt⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠀⠀⠀⠀⢀⢠⢰⢡⢣⢢⢀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠀⠀⢀⡶⣿⣺⢜⡜⡜⡜⡜⡜⡔⡄⡀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠀⠀⠈⢯⣯⡿⣗⣕⡗⡵⡱⡱⡱⡱⡱⡱⡠⣀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
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⠀⠀⠀⠀⠀⣹⢿⣻⣯⡿⣯⣟⣯⣿⣽⡷⣿⣽⡫⠀⠀⠀⠀⠀⠀⠀⠀⣯⣟⣾⠀⠀⠀⠋⠻⠃⠀⠀⠀⠀
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⠀⠀⠀⠀⢸⣗⡵⡣⡏⣞⢜⡕⡗⣝⢼⢪⡺⣱⢽⡇⠀⠀⠀⠀⠀⠀⠀⠈⠈⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠘⢯⡿⣾⣳⢵⣝⣼⣱⣣⢯⣞⣾⣽⡿⠁⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠀⠀⠉⠻⠻⢿⢾⡷⣿⣽⢟⠿⠓⠋⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
```

</details>

#### Standard Units

All inputs and outputs use these standard units:

| Type                   | Unit                     |
| ---------------------- | ------------------------ |
| **Joint Angle**        | radians                  |
| **Cartesian Position** | meters (`[x, y, z]`)     |
| **Cartesian Rotation** | radians (`[rx, ry, rz]`) |

### Connection Template

The following methods facilitate explicit connection management and low-level command execution. These are primarily intended for advanced scenarios, such as when not using Python's `with/as` context manager or when sending custom commands outside the standard API. *Use with caution*.

| Method Name                  | Description                                                      |
|------------------------------|------------------------------------------------------------------|
| `connect()`                  | Establish a connection to the robot controller.                  |
| `disconnect()`               | Close the connection to the robot controller.                    |
| `send_command(cmd)` | Send a low-level command to the robot controller.    |

### Properties Template

The properties template exposes key robot class attributes as variables, allowing you to query important specifications programmatically. These include:

| Property Name            | Description                                      |
|--------------------------|--------------------------------------------------|
| `JOINT_RANGES`           | List of allowed ranges for each joint (radians). |
| `DOF`                    | Number of degrees of freedom (joints).           |
| `MAX_JOINT_VELOCITY`     | Maximum joint velocity (radians/second).         |
| `MAX_JOINT_ACCELERATION` | Maximum joint acceleration (radians/second²).    |
| `HOME_POSITION` </br> <sub>*(Available only for specific robot series, not for generic manufacturer control)*</sub> | Joint positions of robot home position (radians) |

### Graphical Overview

Below is a high-level diagram illustrating the architecture of the `armctl` library. This design emphasizes the careful templatization of connection and control APIs, ensuring a consistent and extensible interface across different manufacturers and robot series.

<p align="center">
  <img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/diagrams/structure.svg" alt="Template Overview" width="800">
</p>

### System Logging

By default, the library will show the outgoing commands and incoming data. An example can be seen below:

```console
2025-02-12 13:18:11,350 - INFO - Connected to ElephantRobotics(192.168.1.159:5001)(SEND/RECV)
2025-02-12 13:18:11,351 - SEND - Sending command:   power_on()
2025-02-12 13:18:11,954 - RECV - Received response: [ok]
2025-02-12 13:18:11,954 - SEND - Sending command:   state_on()
2025-02-12 13:18:12,647 - RECV - Received response: [ok]
2025-02-12 13:18:12,647 - SEND - Sending command:   get_angles()
2025-02-12 13:18:12,663 - RECV - Received response: get_angles:[0.290562,-95.891321,-74.804509,-162.949219,1.845703,12.041016]
2025-02-12 13:18:12,663 - SEND - Sending command:   task_stop()
2025-02-12 13:18:13,466 - RECV - Received response: [ok]
2025-02-12 13:18:13,466 - SEND - Sending command:   state_off()
2025-02-12 13:18:14,176 - RECV - Received response: [ok]
2025-02-12 13:18:14,176 - SEND - Sending command:   power_off()
2025-02-12 13:18:14,176 - RECV - Received response: [ok]
2025-02-12 13:18:14,176 - INFO - Disconnected from ElephantRobotics
```

#### Disabling Logging

To disable logging in your Python code:

```python
from armctl import Logger
Logger.disable()
```

Or, set the environment variable before running your script:

```bash
export ARMCTL_LOG=0
```

#### Re-Enabling Logging

To re-enable logging in your code:

```python
Logger.enable()
```

Or, remove the environment variable in your shell:

```bash
unset ARMCTL_LOG
```

### CLI Tooling

To get started with the command-line interface, run:

```bash
armctl --help
```

## Under Development

- [JAKA](https://www.jaka.com/en)
  - **Models:** Zu 5
- [Dobot](https://www.dobot-robots.com)
  - **Models:** Magician Lite

## Future Development

- [FANUC](https://www.fanucamerica.com)
  - **Models:** LR Mate 200iD Series
- **More manufacturers and robot series will be supported in future releases.**

## Contributing

Please feel free to submit a pull request or open an issue for any enhancements or bug fixes. See [CONTRIBUTING](https://github.com/MGross21/armctl/blob/main/CONTRIBUTING.md) for more details.

## License

This project is licensed under the MIT License. See the [LICENSE](https://github.com/MGross21/armctl/blob/main/LICENSE) file for more details.

### Notice

> This package automatically installs the [Universal Robots RTDE Python Client Library](https://github.com/UniversalRobots/RTDE_Python_Client_Library) when needed.  
> The RTDE library is provided by Universal Robots and is subject to their licensing terms.
