Official SDK for ZeroArm robotic arm (proprietary)

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Project description

ZeroArm Python SDK

Official Python SDK for ForceEase ZeroArm robotic arms.

Connection Notes

  • Create RobotArm(arm_model="v4") or RobotArm(arm_model="v3") before connecting. The current controller requires the arm model during select_sn.
  • Use RobotArm(arm_model="v4").auto_discover_and_connect() for the default LAN workflow.
  • Use connect_with_short_sn() with at least the first 8 serial-number characters in multi-arm environments.
  • Set slot="left" or slot="right" when selecting a side in dual-arm deployments. The SDK maps left to ZMQ 6666/6667 and right to 6676/6677.
  • Set mount="upright" or mount="side" to match the controller runtime profile.
  • mDNS discovery only accepts connectable IPv4 addresses and ignores loopback or unspecified addresses such as 127.0.0.1 and 0.0.0.0.
  • The controller advertises WebSocket control port 8888. SDK mode selects per-slot ZMQ command/state ports, while bridge ports remain 8889 for left and 8899 for right.

Current Protocol Coverage

  • set_tf(..., plan_mode=0) uses joint-space planning; plan_mode=1 uses Cartesian planning.
  • enable_hold_current() asks the controller to hold all configured joints at their current feedback positions.
  • set_joints_batch() sends a single raw_msg command through the normal commands_<serial> topic.
  • set_gripper_torque(target_tau, enable=True) sends the dedicated set_gripper_torque command for gripper torque mode. set_gripper(...) remains the position/PD_FF gripper command.

Build Notes

  • pyproject.toml declares Cython as a build-system dependency for isolated builds.
  • For direct setup.py builds, install requirements-build.txt first.
  • setuptools is capped below 80 to stay compatible with ROS colcon-core in the shared development environment.

Release

  • Publish Python SDK releases through .github/workflows/build-wheels.yml.
  • A GitHub Release with action published builds Linux, Windows, and macOS wheels, audits that no source distribution or C/Cython source files are present, then uploads only wheel distributions to PyPI.
  • The workflow expects PYPI_API_TOKEN to be configured as a GitHub Actions secret.

Version

Current SDK source version: 0.1.5.

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0.2.1

0.2.0

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0.1.5

0.1.4

0.1.3

0.1.2

0.1.0

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