Package Health Score

72 / 100

security
Security review needed
popularity
Small
maintenance
Healthy
community
Sustainable

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Popularity

Small

GitHub Stars: 114
Forks: 54
Contributors: 20

Direct Usage Popularity

Based on project statistics from the GitHub repository for the PyPI package pymycobot, we found that it has been starred 114 times.

Security

Security review needed

Security and license risk for latest version

Release Date: Nov 15, 2024
Direct Vulnerabilities: 0
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L
Indirect Vulnerabilities: 0
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License Risk: 0
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All security vulnerabilities belong to production dependencies of direct and indirect packages.

License

MIT

Security Policy

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Maintenance

Healthy

Commit Frequency

Open Issues: 7
Open PR: 0
Last Release: 9 days ago
Last Commit: 2 months ago

Further analysis of the maintenance status of pymycobot based on released PyPI versions cadence, the repository activity, and other data points determined that its maintenance is Healthy.

We found that pymycobot demonstrates a positive version release cadence with at least one new version released in the past 3 months.

In the past month we didn't find any pull request activity or change in issues status has been detected for the GitHub repository.

Community

Sustainable

Readme: Yes
Contributing.md: No
Code of Conduct: Yes
Contributors: 20
Funding: No

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Package

Python Versions Compatibility: !=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7

Age: 4 years
Latest Release: 9 days ago
Dependencies: 3 Direct / 8 Total
Versions: 230
Maintainers: 3
Wheels: OS Independent

Readme

This is Python API for ElephantRobotics product

This is a python API for serial communication with mycobot and controlling it.

Installation

Notes:

> Make sure that Atom is flashed into the top Atom, Transponder is flashed into the base Basic.
> The firmware Atom and Transponder download address: https://github.com/elephantrobotics/myCobot/tree/main/Software
> You also can use myStudio to flash them, myStudio address: https://github.com/elephantrobotics/myStudio/releases

Pip

pip install pymycobot --upgrade

Source code

git clone https://github.com/elephantrobotics/pymycobot.git 
cd /pymycobot
# Install
[sudo] python2 setup.py install
# or
[sudo] python3 setup.py install

Or the more modern form:

# Install
pip install .
# Uninstall
pip uninstall .

Usage:

# for mycobot 280 machine
from pymycobot import MyCobot280  
from pymycobot import MyCobot280Socket
# for mycobot 320 machine
from pymycobot import MyCobot320
from pymycobot import MyCobot320Socket  
# for mecharm 270 machine
from pymycobot import MechArm270  
from pymycobot import MechArmSocket  
# for mypalletizer 260 machine
from pymycobot import MyPalletizer260  
from pymycobot import MyPalletizerSocket

The demo directory stores some test case files.

You can find out which interfaces pymycobot provides in pymycobot/README.md.

Please go to here.

> Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document:

jaywcjlove/sb

MyCobot 280 API说明 | MyCobot 280 API Description

MyCobot 320 API说明 | MyCobot 320 API Description

MechArm 270 API说明 | MechArm 270 API Description

MyPalletizer 260 API说明 | MyPalletizer 260 API Description

myAGV API说明 | myAGV API Description

myArm_M&C API说明 | myArm_M&C API Description# pymycobot

This is python API for ElephantRobotics product

We support Python2, Python3.5 or later.

jaywcjlove/sb

MyCobot 280 API说明 | MyCobot 280 API Description

MyCobot 320 API说明 | MyCobot 320 API Description

MechArm 270 API说明 | MechArm 270 API Description

MyPalletizer 260 API说明 | MyPalletizer 260 API Description

myAGV API说明 | myAGV API Description

myArm_M&C API说明 | myArm_M&C API Description

Catalogue:

MyBuddy

base_to_single_coords(base_coords, arm)

Convert base coordinates to coordinates

Parameters
- coords – a list of base coords value len 6
- arm – 0 - left. 1 - right
Returns

coords

collision(left_angles, right_angles)

Collision detection main program

Parameters
- left_angles – left arm angle len 6.
- right_angles – right arm angle len 6.
Returns

int

collision_switch(state)

Collision Detection Switch

Parameters

state (int) – 0 - close 1 - open (Off by default)

focus_servo(id, servo_id)

Power on designated servo

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – 1 - 6

get_acceleration(id)

Read acceleration during all moves

Parameters

id – 1/2/3 (L/R/W)

get_angle(id, joint_id)

Get the angle of a single joint

Parameters
- id (int) – 1/2/3 (L/R/W).
- joint_id (int) – 1 - 7 (7 is gripper)

get_angles(id)

Get the degree of all joints.

Parameters

id – 1/2 (L/R)
Returns

A float list of all degree.
Return type

list

get_base_coord(id)

Get the base coordinates of the single arm

Parameters

id – 1/2 (L/R)

get_base_coords(*args: int)

Convert coordinates to base coordinates. Pass in parameters or no parameters

Parameters
- coords – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]
- arm – 0 - left. 1 - right
Returns

Base coords

get_coord(id, joint_id)

Read a single coordinate parameter

Parameters
- id (int) – 1/2/3 (L/R/W).
- joint_id (int) – 1 - 7 (7 is gripper)

get_coords(id)

Get the coordinates of the robotic arm

Parameters

id – 1/2 (L/R).

get_digital_input(id, pin_no)

singal value

Parameters
- id – 1/2 (L/R)
- pin_no (int) – 1 - 5

get_encoder(id, joint_id)

Obtain the specified joint potential value.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – (int) 1 ~ 6
Returns

0 ~ 4096

get_encoders(id)

Get the six joints of the manipulator

Parameters

id – 1/2 (L/R).
Returns

The list of encoders

get_end_type(id)

Get end coordinate system

Parameters

id – 0/1/2 (ALL/L/R)
Returns

0 - flange 1 - tool

get_gripper_value(id)

Get the value of gripper.

Parameters

id – 1/2 (L/R)
Returns

gripper value (int)

get_joint_current(id, joint_id)

Get Collision Current

Parameters
- id – 0/1/2 (ALL/L/R)
- joint_id – 1 - 6

get_joint_max_angle(id, joint_id)

Gets the maximum movement angle of the specified joint

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – (int) 1 - 6
Returns

angle value(float)

get_joint_min_angle(id, joint_id)

Gets the minimum movement angle of the specified joint

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – (int) 1 - 6
Returns

angle value(float)

get_movement_type(id)

Get movement type

Parameters

id – 0/1/2 (ALL/L/R)
Returns

1 - movel 0 - moveJ

get_plan_acceleration(id=0)

Get planning acceleration

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

[movel planning acceleration, movej planning acceleration].

get_plan_speed(id=0)

Get planning speed

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

[movel planning speed, movej planning speed].

get_reference_frame(id)

Get the base coordinate system

Parameters

id – 0/1/2 (ALL/L/R)
Returns

0 - base 1 - tool.

get_robot_id(id)

Detect this robot id

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_robot_version(id)

Get cobot version

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_servo_currents(id)

Get joint current

Parameters

id – 1/2/3 (L/R/W)
Returns

value mA

get_servo_data(id, servo_no, data_id)

Read the data parameter of the specified address of the steering gear.

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.
- data_id – Data address.
Returns

values (0 - 4096) 0 - disable 1 - enable -1 - error

get_servo_status(id)

Get joint status

Parameters

id – 1/2/3 (L/R/W)
Returns

[voltage, sensor, temperature, current, angle, overload], a value of 0 means no error

get_servo_spees(id)

Get joint speed

Parameters

id – 1/2/ (L/R)
Returns

list len 6

get_servo_temps(id)

Get joint temperature

Parameters

id – 1/2/3 (L/R/W)

get_servo_voltages(id)

Get joint voltages

Parameters

id – 1/2/3 (L/R/W)
Returns

volts < 24 V

get_speed(id)

Get speed

Parameters

id – 1/2/3 (L/R/W).
Returns

speed
Return type

int

get_system_version(id)

Get cobot version

Parameters

id – 0/1/2/3 (ALL/L/R/W)

get_tool_reference(id)

Get tool coordinate system

Parameters

id – 0/1/2 (ALL/L/R)

get_world_reference(id)

Get the world coordinate system

Parameters

id – 0/1/2 (ALL/L/R)

is_all_servo_enable(id)

Determine whether the specified steering gear is connected

Parameters

id – 1/2/3 (L/R/W)
Returns

0 - disable 1 - enable -1 - error

is_collision_on()

Get collision detection status

is_controller_connected(id=0)

Wether connected with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

is_free_mode(id)

Check if it is free mode

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

0/1

is_gripper_moving(id)

Judge whether the gripper is moving or not

Parameters

id – 1/2 (L/R)
Returns

0 - not moving 1 - is moving -1 - error data

is_in_position(id, data, mode)

Judge whether in the position.

Parameters
- id – 0/1/2/3 (ALL/L/R/W).
- data – A data list, angles or coords. If id is 1/2. data length is 6. If id is 0. data len 13. if id is 3. data len 1
- mode – 1 - coords, 0 - angles
Returns

1 - True 0 - False -1 - Error

is_moving(id)

Detect if the robot is moving

Parameters

id – 0/1/2/3 (ALL/L/R/W).
Returns

0 - not moving 1 - is moving -1 - error data

is_paused(id)

Judge whether the manipulator pauses or not.

Parameters

id – 0/1/2/3 (ALL/L/R/W).
Returns

1 - paused 0 - not paused -1 - error

is_power_on(id=0)

Adjust robot arm status

Parameters

id – 0/1/2/3 (ALL/L/R/W)
Returns

1 - power on 0 - power off -1 - error data

is_servo_enable(id, servo_id)

Determine whether all steering gears are connected

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – (int) 1 ~ 6
Returns

0 - disable 1 - enable -1 - error

jog_absolute(id, joint_id, angle, speed)

Absolute joint control

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- angle – int
- speed – int (0 - 100)

jog_angle(id, joint_id, direction, speed)

Jog control angle.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- direction – 0 - decrease, 1 - increase
- speed – int (0 - 100)

jog_coord(id, coord_id, direction, speed)

Jog control coord.

Parameters
- id – 1/2/3 (L/R/W).
- coord_id – int 1-6 (x/y/z/rx/ry/rz).
- direction – 0 - decrease, 1 - increase
- speed – int (0 - 100)

jog_inc_coord(axis, increment, speed)

Double-arm coordinated coordinate stepping

Parameters
- axis – 1 - 6 (x/y/z/rx/ry/rz)
- increment –
- speed – 1 - 100

jog_increment(id, joint_id, increment, speed)

step mode

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – int 1-6.
- increment –
- speed – int (1 - 100)

jog_stop(id)

Stop jog moving

Parameters

id – 1/2/3 (L/R/W).

joint_brake(id, joint_id)

Make it stop when the joint is in motion, and the buffer distance is positively related to the existing speed

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – 1 - 6

pause(id)

Pause movement

Parameters

id – 0/1/2/3 (ALL/L/R/W).

power_off(id=0)

Close communication with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

power_on(id=0)

Open communication with Atom.

Parameters

id – 0/1/2/3 (ALL/L/R/W)

read_next_error(id=0)

Robot Error Detection

Parameters

id – 0/1/2/3 (ALL/L/R/W)

release_all_servos(id=0)

Robot turns off torque output

Parameters

id – 0/1/2/3 (ALL/L/R/W)

release_servo(id, servo_id)

Power off designated servo

Parameters
- id – 1/2/3 (L/R/W)
- servo_id – 1 - 6.

resume(id)

Recovery movement

Parameters

id – 0/1/2/3 (ALL/L/R/W).

send_angle(id, joint, angle, speed)

Send one degree of joint to robot arm.

Parameters
- id – 1/2/3 (L/R/W)
- joint – 1 ~ 6
- angle – int
- speed – 1 ~ 100

send_angles(id, degrees, speed)

Send all angles to the robotic arm

Parameters
- id – 1/2 (L/R).
- degrees – [angle_list] len 6
- speed – 1 - 100

send_coord(id, coord, data, speed)

Send a single coordinate to the robotic arm

Parameters
- id – 1/2/3 (L/R/W).
- coord – 1 ~ 6 (x/y/z/rx/ry/rz)
- data – Coordinate value
- speed – 0 ~ 100

send_coords(id, coords, speed, mode)

Send all coords to robot arm.

Parameters
- id – 1/2 (L/R).
- coords – a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]
- speed – (int) 0 ~ 100
- mode – (int) 0 - moveJ, 1 - moveL, 2 - moveC

set_acceleration(id, acc)

Read acceleration during all moves

Parameters
- id – 1/2/3 (L/R/W)
- acc – 1 - 100

set_color(id, r=0, g=0, b=0)

Set the light color on the top of the robot arm.

Parameters
- id – 1/2 (L/R)
- r (int) – 0 ~ 255
- g (int) – 0 ~ 255
- b (int) – 0 ~ 255

set_digital_output(id, pin_no, pin_signal)

Set atom IO output level

Parameters
- id – 1/2 (L/R)
- pin_no (int) – 1 - 5
- pin_signal (int) – 0 / 1

set_encoder(id, joint_id, encoder, speed)

Set a single joint rotation to the specified potential value.

Parameters
- id – 1/2/3 (L/R/W).
- joint_id – 1 - 6.
- encoder – The value of the set encoder.

set_encoders(id, encoders, speed)

Set the six joints of the manipulator to execute synchronously to the specified position.

Parameters
- id – 1/2 (L/R).
- encoders – A encoder list, length 6.
- speed – speed 1 ~ 100

set_end_type(id, end)

Set end coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- end – 0 - flange, 1 - tool

set_encoders_drag(id, encoders, speeds)

Send all encoders and speeds

Parameters
- encoders - (list) : encoders list.
- speeds - Obtained by the get_servo_speeds() method

set_free_mode(id, value)

set free mode

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- value – 0 - close 1 - open

set_fresh_mode(id, mode)

Set command refresh mode

Parameters
- id – 1/2 (L/R).
- mode – int 1 - Always execute the latest command first. 0 - Execute instructions sequentially in the form of a queue.

set_gripper_calibration(id)

Set the current position to zero, set current position value is 2048.

Parameters

id – 1/2 (L/R)

set_gripper_state(id, flag)

Set gripper switch state

Parameters
- id – 1/2 (L/R)
- flag (int) – 0 - close, 1 - open

set_gripper_value(id, value, speed)

Set gripper value

Parameters
- id – 1/2 (L/R)
- value (int) – 0 ~ 100
- speed (int) – 0 ~ 100

set_joint_current(id, joint_id, current)

Set Collision Current

Parameters
- id – 0/1/2 (ALL/L/R)
- joint_id – 1 - 6
- current – current value

set_joint_max(id, joint_id, angle)

Set the joint maximum angle

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – int 1-6.
- angle – 0 ~ 180

set_joint_min(id, joint_id, angle)

Set the joint minimum angle

Parameters
- id – 1/2/3 (L/R/W)
- joint_id – int 1-6.
- angle – 0 ~ 180

set_movement_type(id, move_type)

Set movement type

Parameters
- id – 0/1/2 (ALL/L/R)
- move_type – 1 - movel, 0 - moveJ

set_pin_mode(id, pin_no, pin_mode)

Set the state mode of the specified pin in atom.

Parameters
- id – 1/2 (L/R)
- pin_no (int) – pin number (1 - 5).
- pin_mode (int) – 0 - input, 1 - output

set_plan_acceleration(id, acceleration)

Set planning acceleration

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- acceleration (int) – (0 ~ 100).

set_plan_speed(id, speed)

Set planning speed

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- speed (int) – (0 ~ 100).

set_pwm_output()

Set PWM output

set_reference_frame(id, rftype)

Set the base coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- rftype – 0 - base 1 - tool.

set_robot_id(id, new_id)

Set this robot id

Parameters
- id – 0/1/2/3 (ALL/L/R/W)
- new_id – 1 - 253

set_servo_calibration(id, servo_no)

The current position of the calibration joint actuator is the angle zero point,

and the corresponding potential value is 2048.

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.

set_servo_data(id, servo_no, data_id, value)

Set the data parameters of the specified address of the steering gear

Parameters
- id – 1/2/3 (L/R/W)
- servo_no – Serial number of articulated steering gear, 1 - 6.
- data_id – Data address.
- value – 0 - 4096

set_speed(id, speed)

Set speed value

Parameters
- id – 1/2/3 (L/R/W)
- speed (int) – 0 - 100

set_tool_reference(id, coords)

Set tool coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- coords – a list of coords value(List[float]), length 6. [x(mm), y, z, rx(angle), ry, rz]

set_world_reference(id, coords)

Set the world coordinate system

Parameters
- id – 0/1/2 (ALL/L/R)
- coords – a list of coords value(List[float]), length 6 [x(mm), y, z, rx(angle), ry, rz]

stop(id)

Stop moving

Parameters

id – 0/1/2/3 (ALL/L/R/W).

write_base_coord(id, axis, coord, speed)

Base single coordinate movement

Parameters
- id – 1/2 (L/R)
- axis – 1 - 6 (x/y/z/rx/ry/rz)
- coord – Coordinate value
- speed – 1 - 100

write_base_coords(id, coords, speed)

base coordinate move

Parameters
- id – 1/2 (L/R)
- coords – coords: a list of coords value(List[float]), length 6, [x(mm), y, z, rx(angle), ry, rz]
- speed – 1 - 100

get_radians(id)

Get the radians of all joints

Parameters

id – 1/2 (L/R)
Returns

A list of float radians [radian1, …]
Return type

list

send_radians(id, radians, speed)

Send the radians of all joints to robot arm

Parameters
- id – 1/2 (L/R).
- radians – a list of radian values( List[float]), length 6
- speed – (int )1 ~ 100

set_gpio_input(pin)

Set GPIO input value.

Parameters

pin – (int)pin number.

set_gpio_mode(pin_no, mode)

Init GPIO module, and set BCM mode.

Parameters
- pin_no – (int)pin number.
- mode – 0 - input 1 - output

set_gpio_output(pin, v)

Set GPIO output value.

Parameters
- pin – (int)pin number.
- v – (int) 0 / 1

set_gpio_pwm(pin, baud, dc)

Set GPIO PWM value.

Parameters
- pin – (int)pin number.
- baud – (int) 10 - 1000000
- dc – (int) 0 - 100

MyBuddyEmoticon

MyBuddyEmoticon(file_path: list = [], window_size: tuple = [], loop=False)

API for playing emoticons

Parameters
- file_path - [[path, time],...] The absolute path of facial expression video and the length of time to play.Time in seconds.
- window_size - (Length, width) Size of the playback window (default is full screen).
- loop - Loop playback or not (only once by default).

from pymycobot import MyBuddyEmoticon
import time

# playlist
file_path = [
  ['/home/er/emo/look_happy.mp4', 10],
]
# Initialize the object and set it to loop playback
em = MyBuddyEmoticon(file_path, loop = True)
# Start playing
em.start()

# Pause playback after 3 seconds
# time.sleep(3)
# em.pause()

# Continue playing
# em.run()

# The main thread waits for the completion of playback
em.join()

add_file_path(path_time: list)

Add Playback File

Parameters

path_time – [path, time] The video address to be added and the running time

del_file_path(index: int)

Delete the element with the specified subscript in the playlist list

Parameters

index – The subscript of the element in the playlist to be deleted

file_path

Get Playfile List

Returns

list

join()

Wait for the thread playing the video to finish

pause()

Pause playback

run()

Continue playing

start()

Start playing

More demo can go to here.

pymycobot dependencies

crc pyserial python-can

FAQs

What is pymycobot?

Python API for serial communication of MyCobot. Visit Snyk Advisor to see a full health score report for pymycobot, including popularity, security, maintenance & community analysis.

Is pymycobot popular?

The python package pymycobot receives a total of 3,371 weekly downloads. As such, pymycobot popularity was classified as small. Visit the popularity section on Snyk Advisor to see the full health analysis.

Is pymycobot well maintained?

We found that pymycobot demonstrated a healthy version release cadence and project activity. It has a community of 20 open source contributors collaborating on the project. See the full package health analysis to learn more about the package maintenance status.

Is pymycobot safe to use?

While scanning the latest version of pymycobot, we found that a security review is needed. A total of 0 vulnerabilities or license issues were detected. See the full security scan results.

Last updated on 21 November-2024, at 07:27 (UTC).

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