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

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

Universal Robots	Vention	Elephant Robotics
UR3, UR5, UR5e, UR10, UR16	7th Axis Plate	myCobot Pro600

Want to see your robot supported?
Open an issue or contribute a pull request!

From PyPI:

pip install armctl

From GitHub:

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

from armctl import *

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

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()

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()

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.

Replicating the prior example,

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()

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.

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

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All inputs and outputs use these standard units:

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.

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

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.

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

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

To disable logging in your Python code:

from armctl import Logger
Logger.disable()

Or, set the environment variable before running your script:

export ARMCTL_LOG=0

To re-enable logging in your code:

Logger.enable()

Or, remove the environment variable in your shell:

unset ARMCTL_LOG

• JAKA
  • Models: Zu 5
• Dobot
  • Models: Magician Lite

• FANUC
  • Models: LR Mate 200iD Series
• More manufacturers and robot series will be supported in future releases.

Please feel free to submit a pull request or open an issue for any enhancements or bug fixes. See CONTRIBUTING for more details.

This project is licensed under the MIT License. See the LICENSE file for more details.

This package automatically installs the Universal Robots RTDE Python Client Library when needed.
The RTDE library is provided by Universal Robots and is subject to their licensing terms.