xarm-python-sdk 1.15.2__tar.gz

xarm_python_sdk-1.15.2/.github/workflows/python-publish.yml

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+# This workflow will upload a Python Package using Twine when a release is created
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-python#publishing-to-package-registries
+
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+name: Upload Python Package
+
+on:
+  push:
+    tags:
+      - 'v*'
+
+permissions:
+  contents: read
+
+jobs:
+  deploy:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v4
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+        python-version: '3.x'
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install build
+    - name: Build package
+      run: python -m build
+    - name: Publish package
+      uses: pypa/gh-action-pypi-publish@27b31702a0e7fc50959f5ad993c78deac1bdfc29
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_API_TOKEN }}

xarm_python_sdk-1.15.2/.gitignore

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+files__pycache__/
+.idea
+*.py[cod]
+*$py.class
+build/
+dist/
+*.egg-info/
+example/test/
+example/wrapper/bak/
+example/wrapper/robot.conf
+bak-xarm/
+.vscode/

xarm_python_sdk-1.15.2/LICENSE

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+Copyright (c) 2018, UFACTORY Inc.
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright notice,
+      this list of conditions and the following disclaimer in the documentation
+      and/or other materials provided with the distribution.
+    * Neither the name of the copyright holder nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

xarm_python_sdk-1.15.2/PKG-INFO

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+Metadata-Version: 2.4
+Name: xarm-python-sdk
+Version: 1.15.2
+Summary: Python SDK for UFACTORY robotic arm 850, xArm 5/6/7, and Lite6.
+Project-URL: Homepage, https://www.ufactory.cc
+Project-URL: Documentation, https://github.com/xArm-Developer/xArm-Python-SDK/doc/api/xarm_api.md
+Project-URL: Repository, https://github.com/xArm-Developer/xArm-Python-SDK.git
+Project-URL: Issues, https://github.com/xArm-Developer/xArm-Python-SDK/issues
+Author-email: Vinman <vinman.wen@ufactory.cc>
+Maintainer-email: Vinman <vinman.wen@ufactory.cc>, Minna <minna.zhong@ufactory.cc>
+License-File: LICENSE
+Classifier: Intended Audience :: Developers
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.5
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: 3.7
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Software Development
+Requires-Python: >=3.5
+Description-Content-Type: text/x-rst
+
+xarm-python-sdk
+===============
+
+.. image:: https://badge.fury.io/py/xarm-python-sdk.svg
+    :target: https://pypi.org/project/xarm-python-sdk/
+
+.. image:: https://img.shields.io/github/license/xArm-Developer/xArm-Python-SDK.svg
+    :target: https://github.com/xArm-Developer/xArm-Python-SDK/blob/main/LICENSE
+
+.. image:: https://img.shields.io/pypi/pyversions/xarm-python-sdk.svg
+    :target: https://pypi.org/project/xarm-python-sdk/
+
+Official Python SDK for UFACTORY robots.
+
+Supported Products
+------------------
+
+- UFACTORY xArm 5/6/7
+- UFACTORY 850
+- UFACTORY Lite 6
+
+Compatibility
+-------------
+
+- Python 3.5 - 3.13
+
+Installation
+------------
+
+Install from PyPI:
+
+.. code-block:: bash
+
+    pip install xarm-python-sdk
+
+Quick Start
+-----------
+
+.. code-block:: python
+
+    from xarm.wrapper import XArmAPI
+
+    # Connect to the robot
+    arm = XArmAPI('192.168.1.100')  # Replace with your robot's IP address
+
+    # Enable motion
+    arm.motion_enable(enable=True)
+
+    # Set robot to ready state
+    arm.set_mode(0)    # Position control mode
+    arm.set_state(0)   # Set to ready state
+
+    # Move to a target position
+    arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, speed=100)
+
+    # Disconnect
+    arm.disconnect()
+
+Documentation
+-------------
+
+Full documentation and examples are available at:
+
+https://github.com/xArm-Developer/xArm-Python-SDK
+
+Website: https://www.ufactory.cc/
+
+Release Note: https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/README.md#update-summary
+
+Bug Reports: support@ufactory.cc
+
+License
+-------
+
+- License: BSD 3-Clause License. See `LICENSE <https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/LICENSE>`_ for details.

xarm_python_sdk-1.15.2/README.md

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+# xArm-Python-SDK
+
+## Overview
+xArm Python SDK
+
+## Caution
+- Please keep away from the robot arm to avoid personal injury or equipment damage.
+- Make sure to do a safety assessment before moving to prevent collisions.
+- Protect the arm before unlocking the joint.
+
+## Installation
+  you can run examples without installation.Only Python3 is supported.
+- Install from source code
+  - download
+    ```bash
+    git clone https://github.com/xArm-Developer/xArm-Python-SDK.git
+    cd cd xArm-Python-SDK
+    ```
+  - install
+    - install with build
+      ```bash
+      pip install build
+      python -m build
+      pip install dist/xarm_python_sdk-1.15.1-py3-none-any.whl
+      ```
+    - install with source code
+      ```bash
+      pip install .
+      ```
+- Install from pypi
+  ```bash
+  pip install xarm-python-sdk
+  ```
+
+## Doc
+- #### [API Document](doc/api/xarm_api.md)
+
+- #### [API Code Document](doc/api/xarm_api_code.md)
+
+- #### [UFACTORY ModbusTCP Manual](doc/UF_ModbusTCP_Manual.md)
+
+## Update Summary
+- > ### 1.15.0
+  - Added the Six-axis Force Torque Sensor collision detection related interfaces
+  - Added support for the new version of BIO Gripper control interface
+
+- > ### 1.14.7
+  - Fixed the problem that single joint or direction movement fails in some cases (valid from firmware 2.5.0)
+  - Added standard ModbusTcp client and Gcode client
+  - GPIO control supports immediate execution
+  - Support new version of vacuum gripper
+  - Support the studio-2.5.0 blockly project conversion to python
+
+- > ### 1.13.30
+  - Supports obtaining unsaved track recording duration
+  - Fix the abnormal path of running blockly program in some cases
+  - Fix the return format of getting C23 and C38 errors
+  - Supports obtaining identification status
+
+- > ### 1.13.19
+  - Friction identification supports xarm7_mirror model
+  - Fix the abnormal return value of blockly conversion robotiq related interface
+  
+- > ### 1.13.0
+  - Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface
+
+- > ### 1.12.2
+  - Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)
+
+- > ### 1.11.6
+  - Correct the ambiguity that the `set_position_aa` interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)
+
+- > ### 1.11.5
+  - Optimization pause time is too long (wait=true)
+  - Add common motion api (Enabled after firmware version 1.11.100)
+  - The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)
+
+- >### [More](ReleaseNotes.md)
+
+
+## [Example](example/wrapper/)
+
+   __Before running the example, please modify the IP in [robot.conf](example/wrapper/robot.conf) to corresponding IP you want to control.__
+
+- #### [0000-template](example/wrapper/common/0000-template.py)
+
+- ##### [0001-event_register](example/wrapper/common/0001-event_register.py)
+
+- ##### [0002-get_property](example/wrapper/common/0002-get_property.py)
+
+- ##### [0003-api_get](example/wrapper/common/0003-api_get.py)
+
+- ##### [0004-servo_attach_detach](example/wrapper/common/0004-servo_attach_detach.py)
+
+- ##### [1001-move_line](example/wrapper/common/1001-move_line.py)
+
+- #####  [1002-move_line](example/wrapper/common/1002-move_line.py)
+
+- #####  [1003-relative_move_line](example/wrapper/common/1003-relative_move_line.py)
+
+- #####  [1004-move_arc_line](example/wrapper/common/1004-move_arc_line.py)
+
+- #####  [1005-move_arc_line](example/wrapper/common/1005-move_arc_line.py)
+
+- #####  [1006-move_tool_line](example/wrapper/common/1006-move_tool_line.py)
+
+- #####  [1007-counter](example/wrapper/common/1007-counter.py)
+
+- #####  [1008-move_line_aa](example/wrapper/common/1008-move_line_aa.py)
+
+- #####  [1009-cartesian_velocity_control](example/wrapper/common/1009-cartesian_velocity_control.py)
+
+- #####  [1010-cartesian_online_trajectory_planning](example/wrapper/common/1010-cartesian_online_trajectory_planning.py)
+
+- #####  [2000-joint_velocity_control](example/wrapper/common/2000-joint_velocity_control.py)
+  
+- #####  [2006-joint_online_trajectory_planning](example/wrapper/common/2006-joint_online_trajectory_planning.py)
+
+- ##### 2001-move_joint --> [xarm5](example/wrapper/xarm5/2001-move_joint.py) --- [xarm6](example/wrapper/xarm6/2001-move_joint.py) --- [xarm7](example/wrapper/xarm7/2001-move_joint.py)
+
+- ##### 2002-move_joint --> [xarm5](example/wrapper/xarm5/2002-move_joint.py) --- [xarm6](example/wrapper/xarm6/2002-move_joint.py) --- [xarm7](example/wrapper/xarm7/2002-move_joint.py)
+
+- ##### 2003-move_joint --> [xarm5](example/wrapper/xarm5/2003-move_joint.py) --- [xarm6](example/wrapper/xarm6/2003-move_joint.py) --- [xarm7](example/wrapper/xarm7/2003-move_joint.py)
+
+- ##### 2004-move_joint --> [xarm5](example/wrapper/xarm5/2004-move_joint.py) --- [xarm6](example/wrapper/xarm6/2004-move_joint.py) --- [xarm7](example/wrapper/xarm7/2004-move_joint.py)
+
+- ##### 2005-move_arc_joint --> [xarm5](example/wrapper/xarm5/2005-move_arc_joint.py) --- [xarm6](example/wrapper/xarm6/2005-move_arc_joint.py) --- [xarm7](example/wrapper/xarm7/2005-move_arc_joint.py)
+
+- ##### [3001-move_circle](example/wrapper/common/3001-move_circle.py)
+
+- ##### [3002-record_trajectory](example/wrapper/common/3002-record_trajectory.py)
+
+- ##### [3003-playback_trajectory](example/wrapper/common/3003-playback_trajectory.py)
+  
+- ##### [3004-get_report_data](example/wrapper/common/3004-get_report_data.py)
+  
+- ##### [3005-task_feedback](example/wrapper/common/3005-task_feedback.py)
+
+- ##### [3006-standard_modbus_tcp](example/wrapper/common/3006-standard_modbus_tcp.py)
+
+- ##### [5000-set_tgpio_modbus](example/wrapper/common/5000-set_tgpio_modbus.py)
+
+- ##### [5001-get_tgpio_digital](example/wrapper/common/5001-get_tgpio_digital.py)
+
+- ##### [5002-get_tgpio_analog](example/wrapper/common/5002-get_tgpio_analog.py)
+
+- ##### [5003-set_tgpio_digital](example/wrapper/common/5003-set_tgpio_digital.py)
+
+- ##### [5004-set_gripper](example/wrapper/common/5004-set_gripper.py)
+
+- ##### [5005-get_cgpio_digital_analog](example/wrapper/common/5005-get_cgpio_digital_analog.py)
+
+- ##### [5006-set_cgpio_digital_analog](example/wrapper/common/5006-set_cgpio_digital_analog.py)
+
+- ##### [5007-set_cgpio_input_output_function](example/wrapper/common/5007-set_cgpio_input_output_function.py)
+
+- ##### [5008-get_cgpio_state](example/wrapper/common/5008-get_cgpio_state.py)
+
+- ##### [5009-set_bio_gripper](example/wrapper/common/5009-set_bio_gripper.py)
+
+- ##### [6001-set_reduced_mode](example/wrapper/common/6001-set_reduced_mode.py)
+
+- ##### [6002-set_fense_mode](example/wrapper/common/6002-set_fense_mode.py)
+
+- ##### [7001-servo_j](example/wrapper/common/7001-servo_j.py)
+
+- ##### [7002-servo_cartesian](example/wrapper/common/7002-servo_cartesian.py)
+
+- ##### [7003-servo_cartesian_aa](example/wrapper/common/7003-servo_cartesian_aa.py)
+
+- ##### [8000-load_identify_current](example/wrapper/common/8000-load_identify_current.py)
+
+- ##### [8001-force_tech](example/wrapper/common/8001-force_tech.py)
+
+- ##### [8002-impedance](example/wrapper/common/8002-impedance.py)
+
+- ##### [8003-force_control](example/wrapper/common/8003-force_control.py)
+
+- ##### [8004-load_identify](example/wrapper/common/8004-load_identify.py)
+
+- ##### [8005-read_force_data](example/wrapper/common/8005-read_force_data.py)
+
+- ##### [8006-save_force_zero](example/wrapper/common/8006-save_force_zero.py)
+
+- ##### [8010-get_ft_sensor_config](example/wrapper/common/8010-get_ft_sensor_config.py)
+
+- ##### [9000-set_linear_track](example/wrapper/common/9000-set_linear_track.py)
+
+- ##### [blockly_to_python](example/wrapper/tool/blockly_to_python.py)
+
+- ##### [get_report_data_with_protocol](example/wrapper/common/get_report_data_with_protocol.py)
+
+
+- #### Import
+  ```python
+  from xarm.wrapper import XArmAPI
+  arm = XArmAPI('COM5')
+  arm = XArmAPI('192.168.1.113')
+  arm = XArmAPI('192.168.1.113', do_not_open=False)
+  arm = XArmAPI('192.168.1.113', is_radian=False)
+  ```
+
+- #### Connect/Disconnect
+  ```python
+  arm.connect(...)
+  arm.disconnect()
+  ```
+
+- #### Move
+  ```python
+  arm.reset(...)
+  arm.set_position(...)
+  arm.set_servo_angle(...)
+  arm.set_servo_angle_j(...)
+  arm.set_servo_cartesian(...)
+  arm.move_gohome(...)
+  arm.move_circle(...)
+  arm.emergency_stop()
+  arm.set_position_aa(...)
+  arm.set_servo_cartesian_aa(...)
+  arm.vc_set_joint_velocity(...)
+  arm.vc_set_cartesian_velocity(...)
+  ```
+
+- #### Set
+  ```python
+  arm.set_servo_attach(...)
+  arm.set_servo_detach(...)
+  arm.set_state(...)
+  arm.set_mode(...)
+  arm.motion_enable(...)
+  arm.set_pause_time(...)
+  ```
+
+- #### Get
+  ```python
+  arm.get_version()
+  arm.get_state()
+  arm.get_is_moving()
+  arm.get_cmdnum()
+  arm.get_err_warn_code()
+  arm.get_position(...)
+  arm.get_servo_angle(...)
+  arm.get_position_aa(...)
+  arm.get_pose_offset(...)
+  ```
+
+- #### Setting
+  ```python
+  arm.set_tcp_offset(...)
+  arm.set_tcp_jerk(...)
+  arm.set_tcp_maxacc(...)
+  arm.set_joint_jerk(...)
+  arm.set_joint_maxacc(...)
+  arm.set_tcp_load(...)
+  arm.set_collision_sensitivity(...)
+  arm.set_teach_sensitivity(...)
+  arm.set_gravity_direction(...)
+  arm.config_tgpio_reset_when_stop(...)
+  arm.config_cgpio_reset_when_stop(...)
+  arm.set_report_tau_or_i(...)
+  arm.set_self_collision_detection(...)
+  arm.set_collision_tool_model(...)
+  arm.clean_conf()
+  arm.save_conf()
+  ```
+
+- #### Gripper
+  ```python
+  arm.set_gripper_enable(...)
+  arm.set_gripper_mode(...)
+  arm.set_gripper_speed(...)
+  arm.set_gripper_position(...)
+  arm.get_gripper_position()
+  arm.get_gripper_err_code()
+  arm.clean_gripper_error()
+  ```
+
+- #### BIO Gripper
+
+  ```python
+  arm.set_bio_gripper_enable(...)
+  arm.set_bio_gripper_speed(...)
+  arm.open_bio_grippe(...)
+  arm.close_bio_gripper(...)
+  arm.get_bio_gripper_status()
+  arm.get_bio_gripper_error()
+  arm.clean_bio_gripper_error()
+  ```
+
+- #### RobotIQ Gripper
+
+  ```python
+  arm.robotiq_reset()
+  arm.robotiq_set_activate(...)
+  arm.robotiq_set_position(...)
+  arm.robotiq_open(...)
+  arm.robotiq_close(...)
+  arm.robotiq_get_status(...)
+  ```
+
+- #### Modbus of the end tools
+
+  ```python
+  arm.set_tgpio_modbus_timeout(...)
+  arm.set_tgpio_modbus_baudrate(...)
+  arm.get_tgpio_modbus_baudrate(...)
+  arm.getset_tgpio_modbus_data(...)
+  ```
+
+- #### GPIO
+
+  ```python
+  # Tool GPIO
+  arm.get_tgpio_digital(...)
+  arm.set_tgpio_digital(...)
+  arm.get_tgpio_analog(...)
+  arm.set_tgpio_digital_with_xyz(...)
+  # Controller GPIO
+  arm.get_cgpio_digital(...)
+  arm.get_cgpio_analog(...)
+  arm.set_cgpio_digital(...)
+  arm.set_cgpio_analog(...)
+  arm.set_cgpio_digital_input_function(...)
+  arm.set_cgpio_digital_output_function(...)
+  arm.get_cgpio_state()
+  arm.set_cgpio_digital_with_xyz(...)
+  arm.set_cgpio_analog_with_xyz(...)
+  ```
+
+- #### Linear Track
+  
+  ```python
+  arm.get_linear_track_pos()
+  arm.get_linear_track_status()
+  arm.get_linear_track_error()
+  arm.get_linear_track_is_enabled()
+  arm.get_linear_track_on_zero()
+  arm.get_linear_track_sci()
+  arm.get_linear_track_sco()
+
+  arm.clean_linear_track_error(...)
+  arm.set_linear_track_enable(...)
+  arm.set_linear_track_speed(...)
+  arm.set_linear_track_back_origin(...)
+  arm.set_linear_track_pos(...)
+  arm.set_linear_track_stop(...)
+  ```
+
+- #### FT Sensor
+  ```python
+  arm.set_impedance(...)
+  arm.set_impedance_mbk(...)
+  arm.set_impedance_config(...)
+  arm.config_force_control(...)
+  arm.set_force_control_pid(...)
+  arm.ft_sensor_set_zero(...)
+  arm.ft_sensor_iden_load(...)
+  arm.ft_sensor_cali_load(...)
+  arm.ft_sensor_enable(...)
+  arm.ft_sensor_app_set(...)
+  arm.ft_sensor_app_get(...)
+  arm.get_ft_sensor_data(...)
+  arm.get_ft_senfor_config(...)
+  arm.get_ft_sensor_error(...)
+  ```
+
+- #### Other
+  ```python
+  arm.set_pause_time(...)
+  arm.system_control(...)
+  arm.clean_error()
+  arm.clean_warn()
+  arm.set_counter_reset()
+  arm.set_counter_increase(...)
+  ```
+
+- #### Register/Release
+  ```python
+  arm.register_report_callback(...)
+  arm.register_report_location_callback(...)
+  arm.register_connect_changed_callback(callback)
+  arm.register_state_changed_callback(callback)
+  arm.register_mode_changed_callback(callback)
+  arm.register_mtable_mtbrake_changed_callback(callback)
+  arm.register_error_warn_changed_callback(callback)
+  arm.register_cmdnum_changed_callback(callback)
+  arm.register_temperature_changed_callback(callback)
+  arm.register_count_changed_callback(callback)
+  arm.release_report_callback(callback)
+  arm.release_report_location_callback(callback)
+  arm.release_connect_changed_callback(callback)
+  arm.release_state_changed_callback(callback)
+  arm.release_mode_changed_callback(callback)
+  arm.release_mtable_mtbrake_changed_callback(callback)
+  arm.release_error_warn_changed_callback(callback)
+  arm.release_cmdnum_changed_callback(callback)
+  arm.release_temperature_changed_callback(callback)
+  arm.release_count_changed_callback(callback)
+  ```
+
+- #### Property
+  ```python
+  arm.connected
+  arm.default_is_radian
+  arm.version
+  arm.position
+  arm.last_used_position
+  arm.tcp_speed_limit
+  arm.tcp_acc_limit
+  arm.last_used_tcp_speed
+  arm.last_used_tcp_acc
+  arm.angles
+  arm.joint_speed_limit
+  arm.joint_acc_limit
+  arm.last_used_angles
+  arm.last_used_joint_speed
+  arm.last_used_joint_acc
+  arm.tcp_offset
+  arm.state
+  arm.mode
+  arm.joints_torque
+  arm.tcp_load
+  arm.collision_sensitivity
+  arm.teach_sensitivity
+  arm.motor_brake_states
+  arm.motor_enable_states
+  arm.has_err_warn
+  arm.has_error
+  arm.has_warn
+  arm.error_code
+  arm.warn_code
+  arm.cmd_num
+  arm.device_type
+  arm.axis
+  arm.gravity_direction
+  arm.gpio_reset_config
+  arm.count
+  arm.temperatures
+  arm.voltages
+  arm.currents
+  arm.cgpio_states
+  ```
+

xarm_python_sdk-1.15.2/README.rst

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+xarm-python-sdk
+===============
+
+.. image:: https://badge.fury.io/py/xarm-python-sdk.svg
+    :target: https://pypi.org/project/xarm-python-sdk/
+
+.. image:: https://img.shields.io/github/license/xArm-Developer/xArm-Python-SDK.svg
+    :target: https://github.com/xArm-Developer/xArm-Python-SDK/blob/main/LICENSE
+
+.. image:: https://img.shields.io/pypi/pyversions/xarm-python-sdk.svg
+    :target: https://pypi.org/project/xarm-python-sdk/
+
+Official Python SDK for UFACTORY robots.
+
+Supported Products
+------------------
+
+- UFACTORY xArm 5/6/7
+- UFACTORY 850
+- UFACTORY Lite 6
+
+Compatibility
+-------------
+
+- Python 3.5 - 3.13
+
+Installation
+------------
+
+Install from PyPI:
+
+.. code-block:: bash
+
+    pip install xarm-python-sdk
+
+Quick Start
+-----------
+
+.. code-block:: python
+
+    from xarm.wrapper import XArmAPI
+
+    # Connect to the robot
+    arm = XArmAPI('192.168.1.100')  # Replace with your robot's IP address
+
+    # Enable motion
+    arm.motion_enable(enable=True)
+
+    # Set robot to ready state
+    arm.set_mode(0)    # Position control mode
+    arm.set_state(0)   # Set to ready state
+
+    # Move to a target position
+    arm.set_position(x=300, y=0, z=200, roll=180, pitch=0, yaw=0, speed=100)
+
+    # Disconnect
+    arm.disconnect()
+
+Documentation
+-------------
+
+Full documentation and examples are available at:
+
+https://github.com/xArm-Developer/xArm-Python-SDK
+
+Website: https://www.ufactory.cc/
+
+Release Note: https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/README.md#update-summary
+
+Bug Reports: support@ufactory.cc
+
+License
+-------
+
+- License: BSD 3-Clause License. See `LICENSE <https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/LICENSE>`_ for details.