roarm-ik 0.1.0__tar.gz

roarm_ik-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 HootSoon
+
+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.

roarm_ik-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: roarm-ik
+Version: 0.1.0
+Summary: A Python library for the WaveShare Ro-arm m3 adding inverse kinematics functionality wrapping the roarmsdk
+Author: HootSoon: Hudson Reeves
+Author-email: Your Name <your.email@example.com>
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.7
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Dynamic: author
+Dynamic: license-file
+
+# roarm-ik-solver
+
+[![PyPI version](https://badge.fury.io/py/roarm-kinematics.svg)](https://badge.fury.io/py/roarm-kinematics)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+A full 3D Spatial (XYZ) Inverse Kinematics engine for the Waveshare RoArm-M3 desktop robot arm.
+
+

roarm_ik-0.1.0/README.md

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+# roarm-ik-solver
+
+[![PyPI version](https://badge.fury.io/py/roarm-kinematics.svg)](https://badge.fury.io/py/roarm-kinematics)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+A full 3D Spatial (XYZ) Inverse Kinematics engine for the Waveshare RoArm-M3 desktop robot arm.
+
+

roarm_ik-0.1.0/examples/basic.py

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+from roarm_ik.arm import Arm
+
+if __name__ == "__init__":
+    #Create arm object with default parameters
+    arm = Arm()
+    arm.move_init()

roarm_ik-0.1.0/examples/draw_square.py

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+from roarm_ik import Arm
+
+def main():
+    print("Connecting to RoArm-M3...")
+    arm = Arm(port="/dev/ttyUSB0")
+
+    print("Moving to start of square...")
+    # Move to the bottom-left corner of the square before drawing
+    arm.move_to_xyz(0, 10, -5, 5, wait=True)
+
+    print("Drawing 10x10 square in the Y-Z plane...")
+    # draw_line(phi, x1, y1, z1, x2, y2, z2)
+    
+    # Bottom edge (Right to Left)
+    arm.draw_line(0, 10, -5, 5, 10, 5, 5)
+    
+    # Right edge (Bottom to Top)
+    arm.draw_line(0, 10, 5, 5, 10, 5, 15)
+    
+    # Top edge (Left to Right)
+    arm.draw_line(0, 10, 5, 15, 10, -5, 15)
+    
+    # Left edge (Top to Bottom)
+    arm.draw_line(0, 10, -5, 15, 10, -5, 5)
+
+    print("Square complete. Returning to center.")
+    arm.move_to_xyz(0, 10, 0, 10, wait=True)
+
+if __name__ == "__main__":
+    main()

roarm_ik-0.1.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "roarm-ik"
+version = "0.1.0"
+authors = [
+    { name = "Your Name", email = "your.email@example.com" }
+]
+description = "A Python library for the WaveShare Ro-arm m3 adding inverse kinematics functionality wrapping the roarmsdk"
+readme = "README.md"
+requires-python = ">=3.7"
+classifiers = [
+    "Programming Language :: Python :: 3",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+]
+dependencies = [
+    # Add any dependencies your library needs here, for example:
+    # "numpy",
+]
+
+[tool.setuptools.packages.find]
+where = ["."]  # Tells it to look for your Python package folder in the root

roarm_ik-0.1.0/roarm_ik/__init__.py

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+from .arm import Arm

roarm_ik-0.1.0/roarm_ik/arm.py

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+from roarm_sdk.roarm import roarm
+import math
+import time
+
+class Arm(roarm):
+    '''
+    RoArm IK solver & SDK Communication wrapper
+    '''
+    def __init__(self, port="/dev/ttyUSB0", baudrate=115200):
+        super().__init__(roarm_type="roarm_m3", port=port, baudrate=baudrate)
+
+        self.r1 = 10
+        self.r2 = 7.5
+        self.r3 = 7
+
+        #Store X,Y,Z and Phi
+        self.pos = [0, 0, 0, 0]
+        self.angles = [0, 0, 90, 0, 0, 10]
+
+
+
+
+    def generate_ik(self, phi, x, y, z):
+        self.pos[0] = x
+        self.pos[1] = y
+        self.pos[2] = z
+        self.pos[3] = phi
+        
+        phi_rad = math.radians(phi)
+        base_angle_rad = math.atan2(y, x)
+        R = math.sqrt(math.pow(x, 2) + math.pow(y, 2))
+
+        D3x = R
+        D3y = z
+
+        D2x = D3x - self.r3 * math.cos(phi_rad)
+        D2y = D3y - self.r3 * math.sin(phi_rad)
+
+        d = math.sqrt(math.pow(D2x, 2) + math.pow(D2y, 2))
+
+        if d > (self.r1 + self.r2):
+            return None
+
+        a = math.atan2(D2y, D2x)
+        b = math.acos((math.pow(self.r1, 2) + math.pow(d, 2) - math.pow(self.r2, 2)) / (2 * self.r1 * d))
+        
+        math_theta1 = a + b
+
+        inner_elbow = math.acos((math.pow(self.r1, 2) + math.pow(self.r2, 2) - math.pow(d, 2)) / (2 * self.r1 * self.r2))
+        math_theta2 = math.pi - inner_elbow 
+
+        robot_shoulder = (math.pi / 2) - math_theta1
+        robot_elbow = math_theta2 
+        
+        robot_shoulder_deg = math.degrees(robot_shoulder)
+        robot_elbow_deg = math.degrees(robot_elbow)
+        robot_base_deg = math.degrees(base_angle_rad)
+
+        robot_wrist_deg = 90 - robot_shoulder_deg - robot_elbow_deg - phi
+
+        return [robot_base_deg, robot_shoulder_deg, robot_elbow_deg, robot_wrist_deg, 0, 10]
+
+
+
+
+    def wait_for_arrival(self, target_angles, tolerance=2.0, timeout=3.0):
+        start_time = time.time()
+        while time.time() - start_time < timeout:
+            current_angles = self.get_joints_angle()
+            if current_angles is not None and len(current_angles) >= 4:
+                max_diff = max(abs(current_angles[i] - target_angles[i]) for i in range(4))
+                if max_diff <= tolerance:
+                    break
+            time.sleep(0.05)
+
+
+
+    def move_to_xyz(self, phi, x, y, z, wait=True):
+        angles = self.generate_ik(phi, x, y, z)
+        if angles:
+            self.joints_angle_ctrl(angles, 500, 254)
+            if wait:
+                self.wait_for_arrival(angles)
+
+
+
+    def draw_line(self, phi, x1, y1, z1, x2, y2, z2, steps=30):
+        for i in range(steps + 1):
+            t = i / steps
+            cx = x1 + (x2 - x1) * t
+            cy = y1 + (y2 - y1) * t
+            cz = z1 + (z2 - z1) * t
+            angles = self.generate_ik(phi, cx, cy, cz)
+            if angles:
+                self.joints_angle_ctrl(angles, 800, 254)
+            time.sleep(0.05)
+        
+
+        if angles:
+            self.wait_for_arrival(angles)

roarm_ik-0.1.0/roarm_ik.egg-info/PKG-INFO

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+Metadata-Version: 2.4
+Name: roarm-ik
+Version: 0.1.0
+Summary: A Python library for the WaveShare Ro-arm m3 adding inverse kinematics functionality wrapping the roarmsdk
+Author: HootSoon: Hudson Reeves
+Author-email: Your Name <your.email@example.com>
+Classifier: Programming Language :: Python :: 3
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.7
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Dynamic: author
+Dynamic: license-file
+
+# roarm-ik-solver
+
+[![PyPI version](https://badge.fury.io/py/roarm-kinematics.svg)](https://badge.fury.io/py/roarm-kinematics)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+A full 3D Spatial (XYZ) Inverse Kinematics engine for the Waveshare RoArm-M3 desktop robot arm.
+
+

roarm_ik-0.1.0/roarm_ik.egg-info/SOURCES.txt

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+LICENSE
+README.md
+pyproject.toml
+setup.py
+examples/basic.py
+examples/draw_square.py
+roarm_ik/__init__.py
+roarm_ik/arm.py
+roarm_ik.egg-info/PKG-INFO
+roarm_ik.egg-info/SOURCES.txt
+roarm_ik.egg-info/dependency_links.txt
+roarm_ik.egg-info/top_level.txt

roarm_ik-0.1.0/roarm_ik.egg-info/dependency_links.txt

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+

roarm_ik-0.1.0/roarm_ik.egg-info/top_level.txt

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+dist
+examples
+roarm_ik

roarm_ik-0.1.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

roarm_ik-0.1.0/setup.py

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+from setuptools import setup, find_packages
+
+setup(
+    name='roarm_ik',
+    version='0.1.0',
+    description='A 3D Inverse Kinematics library for the Waveshare RoArm-M3',
+    author='HootSoon: Hudson Reeves',
+    packages=find_packages(),
+    install_requires=[
+        'roarm_sdk',
+    ],
+)