About

This README is English version. Japanese version is here.

This is a wrapper for controlling the Dynamixel servo connected to the end-effector of the xArm/ Lite6 robot.

Installation Guide

Clone the Repository

git clone https://github.com/matsuolab/xarm_eef_dynamixel_wrapper

Install Required Packages

cd xarm_eef_dynamixel_wrapper
pip install .

How to Use

This wrapper provides a high-level API and a low-level API.

High-level API

You can control the Dynamixel servo connected to eef using the high-level API EEFAPI. Please see a example to know how to use this api.

Low-level API

You can finely control the Dynamixel servo connected to eef using the low-level API EndEffectorPortHandler and DynamixelSDK. The communication method with the Dynamixels connected to eef is almost the same as DynamixelSDK.
The difference is that instead of the default PortHandler, you should use EndEffectorPortHandler ( Please see src/endeffector_port_handler.py for detail).
The argument for this is xArmAPI, and its instantiation follows the same method as described in the xArm-Python-SDK.

Please see examples like ping, read_write and etc. to know how to use this api.