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- xArm-Python-SDK API Documentation (V1.14.0 ): class XArmAPI in module xarm.wrapper.xarm_api
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+ xArm-Python-SDK API Documentation (V1.14.2 ): class XArmAPI in module xarm.wrapper.xarm_api
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## class __ XArmAPI__
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****************************************
@@ -686,13 +686,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ close_lite6_gripper__ (self):
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+ #### def __ close_lite6_gripper__ (self, sync=True ):
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> Close the gripper of Lite6 series robotic arms
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> Note:
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> &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 1.10.0
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> &ensp ;&ensp ;&ensp ;&ensp ; 2. this API can only be used on Lite6 series robotic arms
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>
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -1853,13 +1855,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ open_lite6_gripper__ (self):
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+ #### def __ open_lite6_gripper__ (self, sync=True ):
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> Open the gripper of Lite6 series robotic arms
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> Note:
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> &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 1.10.0
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> &ensp ;&ensp ;&ensp ;&ensp ; 2. this API can only be used on Lite6 series robotic arms
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>
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -2476,12 +2480,14 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ set_cgpio_analog__ (self, ionum, value):
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+ #### def __ set_cgpio_analog__ (self, ionum, value, sync=True ):
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> Set the analog value of the specified Controller GPIO
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>
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> : param ionum: 0 or 1
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> : param value: value
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -2498,13 +2504,16 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ set_cgpio_digital__ (self, ionum, value, delay_sec=None):
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+ #### def __ set_cgpio_digital__ (self, ionum, value, delay_sec=None, sync=True ):
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> Set the digital value of the specified Controller GPIO
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>
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> : param ionum: 0~ 15
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> : param value: value
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> : param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 2. only available if delay_sec <= 0
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -2758,7 +2767,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> Set the gripper enable
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> : param enable: enable or not
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- > &ensp ; Note: such as code = arm.set_gripper_enable(True) #turn on the Gripper
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+ > &ensp ;& ensp ;& ensp ;& ensp ; Note: such as code = arm.set_gripper_enable(True) #turn on the Gripper
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -2768,7 +2777,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> Set the gripper mode
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> : param mode: 0: location mode
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- > &ensp ; Note: such as code = arm.set_gripper_mode(0)
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+ > &ensp ;& ensp ;& ensp ;& ensp ; Note: such as code = arm.set_gripper_mode(0)
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -3455,13 +3464,16 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ set_tgpio_digital__ (self, ionum, value, delay_sec=None):
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+ #### def __ set_tgpio_digital__ (self, ionum, value, delay_sec=None, sync=True ):
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> Set the digital value of the specified Tool GPIO
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>
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> : param ionum: 0 or 1
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> : param value: value
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> : param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 2. only available if delay_sec <= 0
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -3553,7 +3565,7 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ;&ensp ;&ensp ;&ensp ;&ensp ; code >= 0: the last_used_tcp_speed/last_used_tcp_acc will be modified
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- #### def __ set_vacuum_gripper__ (self, on, wait=False, timeout=3, delay_sec=None):
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+ #### def __ set_vacuum_gripper__ (self, on, wait=False, timeout=3, delay_sec=None, sync=True ):
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> Set vacuum gripper state
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>
@@ -3563,6 +3575,9 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> : param wait: wait or not, default is False
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> : param timeout: wait time, unit: second , default is 3s
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> : param delay_sec: delay effective time from the current start, in seconds, default is None(effective immediately)
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 2. only available if delay_sec <= 0
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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@@ -3593,13 +3608,15 @@ xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrappe
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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- #### def __ stop_lite6_gripper__ (self):
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+ #### def __ stop_lite6_gripper__ (self, sync=True ):
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> Stop the gripper of Lite6 series robotic arms
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> Note:
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> &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 1.10.0
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> &ensp ;&ensp ;&ensp ;&ensp ; 2. this API can only be used on Lite6 series robotic arms
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>
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+ > : param sync: whether to execute in the motion queue, set to False to execute immediately(default is True)
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+ > &ensp ;&ensp ;&ensp ;&ensp ; 1. only available if firmware_version >= 2.4.101
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> :return: code
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> &ensp ;&ensp ;&ensp ;&ensp ; code: See the [ API Code Documentation] ( ./xarm_api_code.md#api-code ) for details.
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