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soarm-control
作者
yuyoujiang
· GitHub ↗
· v1.0.1
· MIT-0
466
总下载
2
收藏
0
当前安装
2
版本数
在 OpenClaw 中安装
/install soarm-control
功能描述
Control the robotic arm through the OpenClaw SOARM API. Use this skill when reading current joint state, moving by joint angles, moving by XYZ coordinates, o...
安全使用建议
This skill appears to implement a local SOARM robot controller (Flask API, IK, vision). Before installing: 1) Do not run the server unless you are on the machine that actually hosts the robot and camera; the code will attempt to open /dev/ttyACM0 and camera devices and will move hardware. 2) Verify the missing files referenced in SKILL.md (references/so101_new_calib.urdf and the YOLO weights 'best.pt')—they are referenced but not present in the manifest; ask the publisher where to obtain them. 3) Prepare an isolated test environment (separate machine or network) and a conda env named 'lerobot' or update start_server.sh to point to your conda; dependencies (pinocchio, ultralytics, opencv, lerobot package) must be installed manually. 4) Inspect the full soarm_api.py (the provided copy was truncated) to ensure no unexpected network endpoints or hidden behavior; confirm YOLO/model loading uses local files only. 5) If you need higher assurance, request from the publisher: (a) a complete dependency/install script, (b) the referenced URDF and model files or their trusted sources, and (c) the full untruncated source of soarm_api.py. Given missing files and lack of install guidance, treat this package as potentially unreliable or unsafe to run on production hardware until those gaps are resolved.
功能分析
Type: OpenClaw Skill
Name: soarm-control
Version: 1.0.1
The soarm-control skill bundle is a legitimate robotics control suite designed to interface with a SOARM 101 robotic arm via the lerobot and pinocchio libraries. It provides a Flask-based API (soarm_api.py) for joint control, inverse kinematics, and vision-guided pick tasks using YOLO. The code follows standard robotics programming patterns, lacks any indicators of data exfiltration, persistence, or malicious execution, and the instructions in SKILL.md are consistent with the stated purpose of hardware control.
能力评估
Purpose & Capability
Name/description align with included code: the repository provides a local Flask API, joint/X/Y/Z motion scripts, IK via Pinocchio, and a YOLO-based detection routine. The functionality (robot control + vision) is coherent with the stated purpose.
Instruction Scope
SKILL.md instructs running a local server and curling endpoints on http://127.0.0.1:8000 which matches the included soarm_api.py. However the README references additional files (references/so101_new_calib.urdf and a YOLO model 'best.pt' inside scripts) that are not present in the file manifest; the SKILL.md also leaves 'prepare lerobot env' vague. The API and scripts access local hardware (serial device /dev/ttyACM0 and a camera), so running this skill will operate hardware and camera—expected for a robot-control skill but high-impact. The instructions do not document dependency installation or how model/URDF files are supplied.
Install Mechanism
No install spec is provided (instruction-only), but start_server.sh requires conda and a 'lerobot' conda environment. The code depends on heavy native and Python packages (pinocchio, OpenCV, ultralytics/YOLO, numpy). There is no automated install, no pinned package list, and no guidance for obtaining model weights/URDF; this mismatch increases the chance of runtime failures or manual misconfiguration.
Credentials
The skill does not request secrets or unrelated credentials. start_server.sh uses environment variables for configuration (SOARM_API_HOST/PORT, SOARM_PORT, LEROBOT_ROOT, CONDA_BIN) which are reasonable for a local hardware-control tool. No suspicious credential exfiltration is present in the visible code.
Persistence & Privilege
Flags show always:false and normal autonomous invocation. The skill does not request forced inclusion or claim to modify other skills or system-wide configuration. No persistence escalation observed.
如何使用
- 确保已安装 OpenClaw（本地或 Docker 部署）
- 在对话框中输入安装命令：
/install soarm-control - 安装完成后，直接呼叫该 Skill 的名称或使用
/soarm-control触发 - 根据 Skill 的参数说明提供必要输入，即可获得结构化输出
版本历史
v1.0.1
Significant update: Migrated to a new SOARM API-based control system, simplified scripts, and updated documentation.
- Replaced older joint-control scripts with a unified SOARM API approach.
- Added scripts for reading joints, moving by XYZ and joint angles, launching server, and running yolo11n detection.
- Removed legacy scripts for manual control, status reporting, and device enabling/disabling.
- Updated sample calibration data and documentation to reference the new system.
- SKILL.md rewritten for concise, API-focused usage with quick command examples and updated setup steps.
v1.0.0
Initial release of soarm-control.
- Provides control of the SOARM101 robotic arm via XYZ positioning or direct joint angle commands.
- Includes scripts for moving the arm, setting preset positions, viewing status, and disabling the arm.
- Offers clear instructions for dependency setup and calibration file configuration.
- Supports connection management with `--keep-connected` parameter for smoother operation.
- Documentation includes coordinate conventions, safety tips, and example commands.
元数据
常见问题
soarm-control 是什么？
Control the robotic arm through the OpenClaw SOARM API. Use this skill when reading current joint state, moving by joint angles, moving by XYZ coordinates, o... 它是一个面向 Claude Code / OpenClaw 的 AI Agent Skill 插件，目前累计下载 466 次。
如何安装 soarm-control？
在 OpenClaw 或 Claude Code 对话框中运行命令「/install soarm-control」即可一键安装，无需额外配置。
soarm-control 是免费的吗？
是的，soarm-control 完全免费，采用 MIT-0 许可证，可自由下载、安装和使用。
soarm-control 支持哪些平台？
soarm-control 跨平台运行，可在任意部署了 OpenClaw / Claude Code 的环境中使用（cross-platform）。
谁开发了 soarm-control？
由 yuyoujiang（@yuyoujiang）开发并维护，当前版本 v1.0.1。
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