openarmx-arm-driver 1.1.5

Python SDK for OpenArmX robotic arm control via CAN bus

OpenArmX Driver

Developed by Chengdu Changshu Robotics Co., Ltd.

Python SDK for OpenArmX robotic arm control via CAN bus.

Installation

pip install openarmx-driver

Quick Start

Single Arm Control

from openarmx_driver import Arm

# Create right arm instance
arm = Arm('can0', side='right')

# Enable motors
arm.enable_all()

# Set to MIT mode
arm.set_mode('mit')

# Move joint
arm.move_joint_mit(motor_id=1, position=0.5, kp=10.0, kd=1.0)

# Check status
arm.show_motor_status()

# Stop
arm.disable_all()

Dual Arm Control

from openarmx_driver import Robot

# Create dual-arm robot
robot = Robot(left_can_channel='can0', right_can_channel='can1')

# Enable all motors
robot.enable_all()

# Set mode
robot.set_mode_all('mit')

# Symmetrical motion of left and right arms
robot.move_joints_mit(
    left_positions=[0.1, 0.2, 0.3, 0, 0, 0, 0],
    right_positions=[0.1, 0.2, 0.3, 0, 0, 0, 0],
    kp=10.0, kd=1.0
)

# Check status
robot.show_all_status()

# Stop
robot.disable_all()

Supported Control Modes

• MIT Mode: Hybrid position/velocity/torque control (with PD gains)

License

This project is licensed under the OpenArmX Research and Education License. Commercial use requires a separate license.

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📞 Contact Us

Chengdu Changshu Robotics Co., Ltd.

Contact	Information
📧 Email	[e-mail]
📱 Phone/WeChat	[phone]
🌐 Website	https://openarmx.com/
📍 Address	No.11 Xinye 8th Street, West Zone, Tianjin Economic-Technological Development Area, Huacheng Machinery Factory
👤 Contact Person	Mr. Wang

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