soarm-control

# 🦐 SOARM Control Skill Use the existing SOARM API to control the robotic arm directly. ## ⚙️ Configuration Notes **Default Local Setup (when on same machine):** - API Base URL: `http://127.0.0.1:8000` ## 🔍 Key APIs & Examples ### Read Current State ```bash curl -sS http://127.0.0.1:8000/joints ``` Returns current joint values and XYZ end-effector position. --- ### Move To a Position By Joint Angles ```bash curl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,0,0,0,0,0]}' ``` **Parameter Notes:** - Joints order: `shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper` - First 5 joints use **degrees (deg)** - Gripper uses **0-100** range **Fixed Positions:** | Name | shoulder_pan | shoulder_lift | elbow_flex | wrist_flex | wrist_roll | gripper | |---|---:|---:|---:|---:|---:|---:| | `initial` | 0 | -104 | 95 | 65 | -95 | 10 | | `top_down` | 0 | -50 | 30 | 90 | -95 | 70 | **Examples:** Return to `initial`: ```bash curl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-104,95,65,-95,10]}' ``` Return to `top_down`: ```bash curl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-50,30,90,-95,70]}' ``` --- ### Move By XYZ Coordinates ```bash curl -sS -X POST http://127.0.0.1:8000/move/xyz \ -H 'Content-Type: application/json' \ -d '{"x":0.2,"y":0.0,"z":0.2}' ``` **Parameter Notes:** - `x`: forward/backward (positive = forward) - `y`: left/right (positive = left) - `z`: up/down (positive = up) - Values in **meters** --- ### Trigger a Pick Task ```bash curl -sS -X POST http://127.0.0.1:8000/pick ``` Returns: - `ok`: true if the task was accepted - `message`: `抓取任务已启动` - Returns HTTP `409` if another pick task is already running --- ## 🐙 Quick Commands I Can Run ### Return to initial position ```bash curl -sS -X POST http://localhost:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-104,95,65,-95,10]}' ``` ### Return to top-down position ```bash curl -sS -X POST http://localhost:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-50,30,90,-95,70]}' ``` ### Read current position ```bash curl -sS http://localhost:8000/joints ``` --- ## 🛠️ Setup Notes When pairing your SOARM device with OpenClaw: 1. **Organize the skill directory** ```bash ├── references │   └── so101_new_calib.urdf # download from TheRobotStudio ├── scripts │   ├── best.pt # yolo11n model │   ├── control_soarm_joints.py │   ├── move_soarm_to_xyz_pinocchio.py │   ├── read_soarm_joints.py │   ├── soarm_api.py │   └── start_server.sh └── SKILL.md ``` 2. **Perpare lerobot env** 3. **Launch the server** ```bash ~/.openclaw/workspace/skills/soarm-control bash scripts/start_server.sh ``` ---