ZeroArm Python SDK

Current SDK source version: 0.2.2

Version 0.2 uses the same device WebSocket protocol-v2 bridge as the GUI and ROS SDK. Before any motion command is enabled, connect() verifies both the firmware version and the advertised SDK protocol capability, waits for a fresh operational state, and acquires an exclusive renewable control lease.

Requirements:

• ZeroArm firmware 1.1.0 or newer
• sdk_protocol_version = 2
• Python 3.9–3.12

pip install zeroArm_sdk

import asyncio
from zeroArm_sdk import RobotArm


async def main():
    arm = RobotArm(
        arm_model="v4",
        slot="left",
        mount="upright",
        end_effector={
            "type": "gripper",
            "model": "standardParallel",
            "ff_kp": 4,
        },
    )
    await arm.auto_discover_and_connect()
    print(arm.firmware_version, arm.sdk_protocol_version)
    try:
        await arm.set_joints_batch(
            [(1, 0.2), (2, -0.3)],
            max_vel=3.0,
            max_acc=5.0,
            max_jerk=5.0,
            wait_for_completion=True,
        )
        await arm.set_gripper(0.03)
    finally:
        await arm.close()


asyncio.run(main())

Use end_effector="none", a gripper configuration, or a screwdriver configuration such as {"type": "screwdriver", "default_vel": 2, "max_vel": 6}. If it is omitted, the SDK leaves the device's existing end-effector configuration unchanged.

Normal-control APIs intentionally do not expose motor zeroing. Calibration and zero writes belong to the maintenance workflow.

Main methods:

• set_joint() / set_joints_batch()
• set_tf()
• set_gripper() / set_gripper_torque()
• set_screwdriver()
• enable_hold_current() / zero_gravity_mode()
• back_to_zero() / back_to_initial()
• gracefully_shutdown() / emergency_shutdown()

Command rejection, stale state, lease loss, incompatible firmware, and transport failures raise the typed exceptions exported by zeroArm_sdk.

Firmware 1.1.0+ requires the provisioned Product Profile to match the requested SN, SDK slot, model and mount. The SDK checks the local model first, downloads and verifies a missing URDF on the client, and uploads it before starting the runtime. Cached models work offline. A missing unpublished model or any identity/integrity failure stops connection.