⚙ Development Guide

MMK2 Robot SDK API Reference

Initialization

Function	Interface	Parameters	Return Value
Connect to the robot	MMK2Robot.__init__(ip)	ip: Wired or wireless IP address of the lower-level controller	-

Data Retrieval

Function	Interface	Parameters	Return Value
Get current joint data	get_joint_states() -> JointStates	-	Joint-state object containing positions, velocities, and torques
Get the current end-effector pose	get_arm_pose(arm: str) -> Tuple[List[float], List[float]]	arm: Robotic arm ('left' or 'right')	Tuple of (position, quaternion); position is in meters
Get the base pose	get_base_pose() -> List[float]	-	[x, y, theta] list in meters and radians

Camera Data Retrieval

Function	Interface	Parameters	Return Value
Enable a camera and configure its parameters	camera.set_camera_config(config: Dict[str, Any]) -> None	config: Camera configuration dictionary in YAML format	-
Get head-camera data	camera.get_head_camera_frame() -> Dict[str, np.ndarray]	-	Dictionary containing 'rgb' and 'depth'
Get left-arm camera data	camera.get_left_camera_frame() -> Dict[str, np.ndarray]	-	Dictionary containing 'rgb' and 'depth'
Get right-arm camera data	camera.get_right_camera_frame() -> Dict[str, np.ndarray]	-	Dictionary containing 'rgb' and 'depth'

Robotic-Arm Control

Function	Interface	Parameters	Return Value
Control dual-arm joint angles	move_arm_joints(arm: str, joints: List[float], block: bool = True) -> bool	arm: 'left'/'right'/'all' joints: List of joint angles block: Whether to block until complete	Whether the target position was reached successfully
Control dual-arm joint trajectories	move_arm_joint_waypoints(arm: str, waypoints: List[float], block: bool = True) -> bool	arm: 'left'/'right'/'all' waypoints: List of joint-trajectory waypoints block: Whether to block until complete	Whether the target position was reached successfully
Control absolute dual-arm end-effector poses	move_arm_pose(arm: str, pose: List[float], block: bool = True) -> bool	arm: 'left'/'right'/'all' pose: Pose list block: Whether to block until complete	Whether the target pose was reached successfully
Control dual-arm end-effector pose trajectories	move_arm_pose_waypoints(arm: str, waypoints: List[float], block: bool = True) -> bool	arm: 'left'/'right'/'all' waypoints: List of pose-trajectory waypoints block: Whether to block until complete	Whether the target pose was reached successfully
Control relative dual-arm end-effector poses	move_arm_relative(arm: str, delta_pose: List[float], block: bool = True) -> bool	arm: 'left'/'right' delta_pose: Relative pose change block: Whether to block until complete	Whether the relative motion completed successfully
Open/close an end-effector gripper	control_gripper(arm: str, position: float, block: bool = True) -> bool	arm: 'left'/'right'/'all' position: Gripper opening (0.0-1.0) block: Whether to block until complete	Whether the gripper position was set successfully

Head Control

Function	Interface	Parameters	Return Value
Control head joint angles	set_head(yaw: float, pitch: float, block: bool = True) -> bool	yaw: Yaw angle (-0.47 to 0.47 radians) pitch: Pitch angle (-0.98 to 0.32 radians) block: Whether to block until complete	Whether the values were set successfully

Spine Control

Function	Interface	Parameters	Return Value
Set spine height	set_spine(position: float, block: bool = True) -> bool	position: Target height (0.04m upward, 0.87m downward) block: Whether to block until complete	Whether the value was set successfully

Base Control

Function	Interface	Parameters	Return Value
Pose control	move_base(x: float, y: float, theta: float, block: bool = True) -> bool	x: Target X coordinate (meters) y: Target Y coordinate (meters) theta: Target angle (radians) block: Whether to block until complete	Whether the target position was reached successfully
Move forward	move_forward(distance: float, block: bool = True) -> bool	distance: Forward distance (meters) block: Whether to block until complete	Whether the motion completed successfully
Move backward	move_backward(distance: float, block: bool = True) -> bool	distance: Backward distance (meters) block: Whether to block until complete	Whether the motion completed successfully
Turn left	turn_left(angle: float, block: bool = True) -> bool	angle: Rotation angle (radians) block: Whether to block until complete	Whether the rotation completed successfully
Turn right	turn_right(angle: float, block: bool = True) -> bool	angle: Rotation angle (radians) block: Whether to block until complete	Whether the rotation completed successfully
Move laterally	lateral_move(distance: float, block: bool = True) -> bool	distance: Lateral distance (meters) block: Whether to block until complete	Whether the motion completed successfully
Set the initial position	set_base_zero() -> bool	-	Whether the zero position was set successfully

Reset Functions

Function	Interface	Parameters	Return Value
Reset to the starting pose	reset_to_start(arm_type: str = "all") -> bool	arm_type: Reset target ('left'/'right'/'all')	Whether the reset completed successfully
Reset to the zero pose	reset_to_zero(arm_type: str = "all") -> bool	arm_type: Reset target ('left'/'right'/'all')	Whether the reset completed successfully
Stop control	stop_all() -> None	-	-

Example

# Initialize the connection
robot = MMK2Robot("192.168.1.100")

# Get joint states
joint_states = robot.get_joint_states()

# Move the left arm
robot.move_arm_joints("left", [0.1, 0.2, 0.3, 0.4, 0.5, 0.6])

# Get camera data
camera_data = robot.camera.get_head_camera_frame()

# Move the base
robot.move_base(1.0, 0.5, 0.0)

📝 Notes

🔧 Parameter Units

• All angle parameters are in radians.

  • This includes joint angles, head yaw/pitch, and base rotation angles.
  • Example: 0.5 means 0.5 radians.

• All position parameters are in meters.

  • This includes end-effector positions, base movement distances, and spine height.
  • Example: 0.1 means 0.1 meters.

🦾 Gripper Control

• The gripper-opening range is 0.0 to 1.0.
  • 0.0: Fully open
  • 1.0: Fully closed
  • Example: 0.5 means half open.

⏱️ Execution Modes

• Blocking mode (block=True)

  • Returns after the motion completes.
  • Suitable when motion completion must be ensured.

• Non-blocking mode (block=False)

  • Returns immediately without waiting for motion completion.
  • Suitable when multiple tasks must run in parallel.

⚠️ Important

1. Connection stability: Make sure the IP address is correct and the network connection is stable.
2. Parameter ranges: Observe the angle limits for each joint.
3. Exception handling: Appropriate exception handling is recommended.
4. Resource release: Release resources promptly after use.