Welcome to the BestMan_Xarm repository, a codebase dedicated to the XArm 6 robotic arm.

💻 Installation

• (Optional) Create conda environment

  cd Install
  conda env create -f basic_environment.yaml
  

👨‍💻 Basic Demos

cd ~/BestMan_Xarm/Examples/
# Demo: Go Home
python3 move_arm_to_home.py 192.168.1.208

# Demo: Move Joints
python3 move_arm_to_joint_angles.py 192.168.1.208

# Demo: Move gripper
python3 close_gripper.py 192.168.1.208
python3 open_gripper.py 192.168.1.208
python3 open_gripper_width.py 192.168.1.208

🤝 Reference

• IKPy’s documentation
• xArm-Python-SDK