🦐 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

curl -sS http://127.0.0.1:8000/joints

Returns current joint values and XYZ end-effector position.

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Move To a Position By Joint Angles

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:

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:

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]}'

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Move By XYZ Coordinates

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

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Trigger a Pick Task

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

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🐙 Quick Commands I Can Run

Return to initial position

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

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

curl -sS http://localhost:8000/joints

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🛠️ Setup Notes

When pairing your SOARM device with OpenClaw:

1. Organize the skill directory

   ├── 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

   ~/.openclaw/workspace/skills/soarm-control 
   bash scripts/start_server.sh
   

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