### Get Gripper Teaching Pendant Parameters Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Example of querying and printing the teaching pendant parameters.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.AGX_GRIPPER)
robot.connect()

param = end_effector.get_gripper_teaching_pendant_param()
if param is not None:
    print(
        param.msg.teaching_range_per,
        param.msg.max_range_config,
        param.msg.teaching_friction,
    )
    print(param.hz, param.timestamp)
```

--------------------------------

### Install Dependencies and SDK

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/README.md

Install the required python-can library and the pyAgxArm package from source.

```shell
pip3 install python-can
```

```shell
git clone https://github.com/agilexrobotics/pyAgxArm.git
cd pyAgxArm
pip3 install .
```

--------------------------------

### Get Gripper Control States Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Example of connecting to the robot and reading the current gripper state.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.AGX_GRIPPER)
robot.connect()

gcs = end_effector.get_gripper_ctrl_states()
if gcs is not None:
    print("width(m)=", gcs.msg.width, "force(N)=", gcs.msg.force)
    print("status_code=", gcs.msg.status_code, "set_zero=", gcs.msg.set_zero)
    print("hz=", gcs.hz, "timestamp=", gcs.timestamp)
```

--------------------------------

### Install CAN Tools

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/can_user.md

Install the necessary utilities for CAN module configuration.

```shell
sudo apt update && sudo apt install can-utils ethtool
```

--------------------------------

### Connect to Robot and Start Data Reading

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Establishes a connection to the robot and optionally starts the data reading thread. The data reading thread is started by default.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.AGX_GRIPPER)
robot.connect()
```

--------------------------------

### Calibrate Joint Usage Example

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Example demonstrating how to disable a joint, manually position it, and trigger the calibration process.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

joint_index = 1
robot.disable(joint_index)
time.sleep(0.2)
input("请手动将关节移动到零位位置后按回车继续...")

if robot.calibrate_joint(joint_index):
    print("calibrate_joint success")
```

--------------------------------

### Arc Motion move_c() Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Example of configuring the arm and executing an arc move using start, midpoint, and end poses.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.set_speed_percent(100)
sp = [0.2, 0.0, 0.3, 0.0, 1.5708, 0.0]
mp = [0.2, 0.05, 0.35, 0.0, 1.5708, 0.0]
ep = [0.2, 0.0, 0.4, 0.0, 1.5708, 0.0]
robot.move_c(sp, mp, ep)

# 等待运动结束（带 5s 超时）
time.sleep(0.5)
start_t = time.monotonic()
while True:
    status = robot.get_arm_status()
    if status is not None and status.msg.motion_status == 0:
        print("已到达目标位置")
        break
    if time.monotonic() - start_t > 5.0:
        print("等待运动结束超时（5s）")
        break
    time.sleep(0.1)
```

--------------------------------

### Connect - connect()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Establishes the connection and starts the data reading thread.

```APIDOC
## Connect — `connect()`

### Description
Establish the connection and start the data reading thread.

### Method Signature
```python
connect(self, start_read_thread: bool = True) -> None
```

### Parameters
#### Optional Parameters
- **start_read_thread** (bool) - Whether to start the data reading thread, default `True`

### Usage Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()
```
```

--------------------------------

### Connect to Robotic Arm and Start Reading

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Establishes a connection to the robotic arm and starts the data reading thread. The `start_read_thread` parameter defaults to True.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()  # start_read_thread=True by default
```

--------------------------------

### POST /connect

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Establishes the connection to the hardware and optionally starts the data reading thread.

```APIDOC
## POST connect

### Description
Creates the connection and starts the data reading thread.

### Method
POST

### Parameters
#### Request Body
- **start_read_thread** (bool) - Optional - Whether to start the data reading thread, default True

### Request Example
{
  "start_read_thread": true
}
```

--------------------------------

### Execute Arc Motion with Start, Midpoint, and End Poses

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Utilize `move_c` for arc movements, specifying start, midpoint, and end poses. Robot must be enabled and speed configured.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.set_speed_percent(100)
sp = [0.2, 0.0, 0.3, 0.0, 1.5708, 0.0]
mp = [0.2, 0.05, 0.35, 0.0, 1.5708, 0.0]
ep = [0.2, 0.0, 0.4, 0.0, 1.5708, 0.0]
robot.move_c(sp, mp, ep)
```

--------------------------------

### Move Gripper Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Example of moving the gripper to specific width and force settings.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.AGX_GRIPPER)
robot.connect()

# 张开到 5cm，力 1N
end_effector.move_gripper(width=0.05, force=1.0)
time.sleep(1.0)

# 闭合（宽度 0）
end_effector.move_gripper(width=0.0, force=1.0)
```

--------------------------------

### Set Installation Position

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Configures the installation position of the robotic arm. This is used to define the arm's mounting orientation.

```APIDOC
## POST /set_installation_pos

### Description
Sets the installation position of the robotic arm. This configuration is crucial for defining the arm's mounting orientation.

### Method
POST

### Endpoint
/set_installation_pos

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
- **position** (string) - Required - The installation position. Accepted values are typically predefined constants like 'HORIZONTAL', 'VERTICAL', etc.

### Request Example
```json
{
  "position": "HORIZONTAL"
}
```

### Response
#### Success Response (200)
- **status** (string) - Indicates the success of the operation.

#### Response Example
```json
{
  "status": "success"
}
```
```

--------------------------------

### Set Installation Position

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Sets the installation position of the robotic arm. Supports horizontal, left-facing, and right-facing orientations.

```APIDOC
## POST /set_installation_pos

### Description
Sets the installation position of the robotic arm. Supports horizontal, left-facing, and right-facing orientations.

### Method
POST

### Endpoint
/set_installation_pos

### Parameters
#### Query Parameters
- **pos** (string) - Optional - Installation orientation, valid values: 'horizontal' / 'left' / 'right', default: 'horizontal'

### Request Example
```json
{
  "pos": "horizontal"
}
```

### Response
#### Success Response (200)
- **None** (None) - No specific return value, indicates success.

#### Response Example
```json
null
```
```

--------------------------------

### Execute Point-to-Point Motion

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Example of moving the arm to a target pose and monitoring completion status.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.set_speed_percent(100)
robot.move_p([-0.4, -0.0, 0.4, 1.5708, 0.0, 0.0])

# Wait for motion to finish (with 5s timeout)
time.sleep(0.5)
start_t = time.monotonic()
while True:
    status = robot.get_arm_status()
    if status is not None and status.msg.motion_status == 0:
        print("Reached target position")
        break
    if time.monotonic() - start_t > 5.0:
        print("Wait for motion timeout (5s)")
        break
    time.sleep(0.1)
```

--------------------------------

### Set Robotic Arm Installation Position

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Define the installation position of the robotic arm using `set_installation_pos`. Use predefined constants like `HORIZONTAL`.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

robot.set_installation_pos(robot.OPTIONS.INSTALLATION_POS.HORIZONTAL)
```

--------------------------------

### GET get_firmware

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Read the robotic arm firmware information.

```APIDOC
## GET get_firmware

### Description
Read the robotic arm firmware information (software version / hardware version / production date, etc.).

### Parameters
#### Query Parameters
- **timeout** (float) - Optional - Timeout for waiting for feedback (seconds), default 1.0
- **min_interval** (float) - Optional - Minimum request interval (seconds), default 1.0

### Response
- **software_version** (str) - Software version
- **hardware_version** (str) - Hardware version
- **production_date** (str) - Production date
- **node_type** (str) - Node type
- **node_number** (int) - Node number
```

--------------------------------

### Execute Joint Motion (Follower Mode)

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Example of initializing the arm and sending joint target angles in JS mode.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.move_js([0.0] * robot.joint_nums)
```

--------------------------------

### Get Gripper Teaching Pendant Parameters Definition

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Function signature for querying teaching pendant configuration parameters.

```python
get_gripper_teaching_pendant_param(
    self, timeout: float = 1.0, min_interval: float = 1.0
) -> Optional[MessageAbstract[ArmMsgFeedbackGripperTeachingPendantParam]]
```

--------------------------------

### Set Joint Acceleration Limits Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Example demonstrating how to configure the maximum acceleration for a specific joint.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

success = robot.set_joint_acc_limits(joint_index=1, max_joint_acc=5.0)
print("set_joint_acc_limits success =", success)
```

--------------------------------

### Create Connection

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/revo2/revo2_api.md

Establishes the connection to the end effector and optionally starts the data reading thread.

```APIDOC
## Create Connection — `connect()`

### Description
Creates the connection and starts the data reading thread.

### Method
`robot.connect(start_read_thread: bool = True)`

### Parameters
#### Query Parameters
- **start_read_thread** (bool) - Optional - Whether to start the data reading thread. Defaults to `True`.

### Request Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.REVO2)
robot.connect()
```
```

--------------------------------

### Set Follower Mode

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Configures the arm as a follower in a Leader-Follower setup.

```python
set_follower_mode(self) -> None
```

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

robot.set_follower_mode()
```

--------------------------------

### Execute Linear Motion

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Example of performing a linear motion to a target pose with status polling.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.set_speed_percent(100)
robot.move_l([-0.4, -0.2, 0.4, 1.5708, 0.0, 0.0])

# Wait for motion to finish (with 5s timeout)
time.sleep(0.5)
start_t = time.monotonic()
while True:
    status = robot.get_arm_status()
    if status is not None and status.msg.motion_status == 0:
        print("Reached target position")
        break
    if time.monotonic() - start_t > 5.0:
        print("Wait for motion timeout (5s)")
        break
    time.sleep(0.1)
```

--------------------------------

### Set Joint Angle and Velocity Limits Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Examples showing how to set both angle and velocity limits simultaneously or just the velocity limit.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

# 同时设置角度和速度限制
success = robot.set_joint_angle_vel_limits(
    joint_index=1,
    min_angle_limit=-2.618,
    max_angle_limit=2.618,
    max_joint_spd=3.0,
)
print("set_joint_angle_vel_limits success =", success)

# 仅设置最大速度限制（不改角度限制）
success = robot.set_joint_angle_vel_limits(joint_index=1, max_joint_spd=3.0)
print("set_joint_angle_vel_limits(max_joint_spd) success =", success)
```

--------------------------------

### Connect to the Robotic Arm

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Establish the connection to the robotic arm and optionally start the data reading thread. This method initializes communication with the arm.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()
```

--------------------------------

### GET get_gripper_ctrl_states()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Reads the feedback/echo status of the leader arm's gripper control commands.

```APIDOC
## GET get_gripper_ctrl_states()

### Description
Reads the feedback/echo status of the leader arm's gripper control commands (current width, force, status code, homing command echo, etc.).

### Response
- **width** (float) - Current gripper opening width, unit: m, range: [0.0, 0.1]
- **force** (float) - Current gripping force, unit: N, range: [0.0, 3.0]
- **status_code** (int) - Status code related to the control command
- **set_zero** (int) - Homing/zero calibration field
```

--------------------------------

### GET get_gripper_teaching_pendant_param()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Queries gripper teaching pendant parameters such as teaching range, max range config, and teaching friction.

```APIDOC
## GET get_gripper_teaching_pendant_param()

### Description
Queries gripper teaching pendant parameters (such as teaching range, max range config, teaching friction). This interface sends a query frame and waits for the corresponding feedback.

### Parameters
#### Query Parameters
- **timeout** (float) - Optional - Feedback wait timeout (seconds), default 1.0
- **min_interval** (float) - Optional - Minimum request interval (seconds), default 1.0

### Response
- **teaching_range_per** (int) - Teaching range (percentage-style value), range: [100, 200]
- **max_range_config** (float) - Max range config, unit: m
- **teaching_friction** (int) - Teaching friction, range: 1..10
```

--------------------------------

### Linear Motion move_l() Usage

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Example of configuring the arm and executing a linear move. Note that this command cannot be used to continuously send target points.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while not robot.enable():
    time.sleep(0.01)

robot.set_speed_percent(100)
robot.move_l([0.1, 0.0, 0.3, 0.0, 1.570796326794896619, 0.0])

# 等待运动结束（带 5s 超时）
time.sleep(0.5)
start_t = time.monotonic()
while True:
    status = robot.get_arm_status()
    if status is not None and status.msg.motion_status == 0:
        print("已到达目标位置")
        break
    if time.monotonic() - start_t > 5.0:
        print("等待运动结束超时（5s）")
        break
    time.sleep(0.1)
```

--------------------------------

### Initialization and Connection

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Methods for creating the arm configuration, initializing the driver instance, and establishing a connection.

```APIDOC
## create_agx_arm_config()

### Description
Creates the configuration object required for initializing the robotic arm.

## AgxArmFactory.create_arm(config)

### Description
Creates an instance of the arm driver using the provided configuration.

## connect()

### Description
Establishes the connection to the robotic arm hardware.

## init_effector()

### Description
Initializes the end effector connected to the arm.
```

--------------------------------

### Circular Movement - move_c()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Plans and executes a circular trajectory using three target end-effector poses: start, middle, and end.

```APIDOC
## POST /api/robot/move_c

### Description
Plans and executes a circular trajectory using three target end-effector poses: start, middle, and end.

### Method
POST

### Endpoint
/api/robot/move_c

### Parameters
#### Request Body
- **start_pose** (list[float]) - Required - Start pose [x, y, z, roll, pitch, yaw] in meters/radians. Pose range: roll/yaw ∈ [-π, π], pitch ∈ [-π/2, π/2].
- **mid_pose** (list[float]) - Required - Middle point pose [x, y, z, roll, pitch, yaw] in meters/radians. Pose range: roll/yaw ∈ [-π, π], pitch ∈ [-π/2, π/2].
- **end_pose** (list[float]) - Required - End pose [x, y, z, roll, pitch, yaw] in meters/radians. Pose range: roll/yaw ∈ [-π, π], pitch ∈ [-π/2, π/2].

### Request Example
```json
{
  "start_pose": [-0.4, -0.2, 0.4, 1.5708, 0.0, 0.0],
  "mid_pose": [-0.4, 0.0, 0.45, 1.5708, 0.0, 0.0],
  "end_pose": [-0.4, 0.2, 0.4, 1.5708, 0.0, 0.0]
}
```

### Response
#### Success Response (200)
- **status** (string) - Indicates the success of the operation.

#### Response Example
```json
{
  "status": "success"
}
```
```

--------------------------------

### Get Leader Arm Joint Angles

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Retrieve the joint angles of the leader arm for controlling a follower arm using `get_leader_joint_angles`. This example continuously fetches and prints the angles.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

robot.set_leader_mode()

while True:
    mja = robot.get_leader_joint_angles()
    if mja is not None:
        print(mja.msg)
    time.sleep(0.005)
```

--------------------------------

### Arc Motion - move_c()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Performs arc trajectory planning and execution using three target flange poses: start, midpoint, and end.

```APIDOC
## move_c(start_pose, mid_pose, end_pose)

### Description
Perform arc trajectory planning and execution using three target flange poses: start / midpoint / end.

### Parameters
#### Request Body
- **start_pose** (list[float]) - Required - Start pose [x, y, z, roll, pitch, yaw] (m / rad).
- **mid_pose** (list[float]) - Required - Midpoint pose [x, y, z, roll, pitch, yaw] (m / rad).
- **end_pose** (list[float]) - Required - End pose [x, y, z, roll, pitch, yaw] (m / rad).
```

--------------------------------

### GET get_joint_enable_status

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Get the enable status of a specified joint motor.

```APIDOC
## GET get_joint_enable_status

### Description
Get the enable status of a specified joint motor.

### Parameters
#### Path Parameters
- **joint_index** (int) - Required - Joint index: 1~6 queries a single joint; 255 queries all joints

### Response
- **status** (bool) - True means enabled, False means not enabled or no feedback available.
```

--------------------------------

### Python Example: Hybrid Control of Robot End Effector

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/revo2/revo2_api.md

Demonstrates initializing the robot, connecting, and then using `position_time_ctrl` for hybrid control. First, set a target position for the thumb tip, then specify the time (in 10ms units) for it to reach that position.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.REVO2)
robot.connect()

# 拇指尖移动到位置 100，然后设置 2 秒到位（200 * 10ms）
end_effector.position_time_ctrl(mode="pos", thumb_tip=100)
end_effector.position_time_ctrl(mode="time", thumb_tip=200)
```

--------------------------------

### Create Connection

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/revo2/revo2_api.md

Establishes the connection and initiates the background data reading thread.

```python
connect(self, start_read_thread: bool = True) -> None
```

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.REVO2)
robot.connect()
```

--------------------------------

### Get Data Monitoring Receive Frequency

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Retrieves the data monitoring receive frequency in Hertz (Hz). A short delay after connecting is advised to get an accurate reading.

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

time.sleep(0.5)
print("robotic arm fps =", robot.get_fps(), "Hz")
```

--------------------------------

### GET /get_flange_pose

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Retrieves the pose of the end-effector flange.

```APIDOC
## GET /get_flange_pose

### Description
Retrieves the pose of the end-effector flange (the mechanical interface for tools).

### Method
GET

### Endpoint
get_flange_pose()

### Response
#### Success Response (200)
- **pose** (list[float]) - A list of 6 floats [x, y, z, roll, pitch, yaw]. x, y, z are in meters; roll, pitch, yaw are in radians.
```

--------------------------------

### Activate Multiple CAN Modules

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/can_user.md

Run the multi-activation script after configuring the port mappings.

```bash
bash can_muti_activate.sh
```

--------------------------------

### Create Configuration - create_agx_arm_config()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Generates the configuration dictionary required by the robotic arm for subsequent Driver instance creation.

```APIDOC
## Create Configuration — `create_agx_arm_config()`

### Description
Generate the configuration dictionary required by the robotic arm for subsequent Driver instance creation.

### Method Signature
```python
create_agx_arm_config(
    robot: Literal["nero", "piper", "piper_h", "piper_l", "piper_x"],
    comm: Literal["can"] = "can",
    firmeware_version: str = "default",
    **kwargs,
) -> dict
```

### Parameters
#### Required Parameters
- **robot** (str) - Robotic arm model. Options: `"nero"` / `"piper"` / `"piper_h"` / `"piper_l"` / `"piper_x"`

#### Optional Parameters
- **comm** (str) - Communication type. Options: `"can"` (default). Note: `comm` is not the CAN channel name; the CAN channel is specified by `channel`
- **firmeware_version** (str) - Controller firmware version, default `"default"`

#### Optional Keyword Arguments (`**kwargs`)
- **joint_limits** (dict) - Custom joint limits (unit: rad). Defaults are assigned automatically; manually entered limits are not currently applied to actual control. See example below
- **channel** (str) - CAN channel name, default `"can0"`
- **interface** (str) - CAN interface type, default `"socketcan"`. On Linux, the official CAN module must use `"socketcan"`; on macOS, use a serial CAN module and set to `"slcan"`
- **bitrate** (int) - CAN baud rate, default `1000000` (1 Mbps)
- **enable_check_can** (bool) - Whether to check the CAN module when creating the Comm instance, default `True`
- **auto_connect** (bool) - Whether to automatically create the CAN Bus instance, default `True`
- **timeout** (float) - CAN Bus read/write timeout (seconds), default `1.0`

### Return Value
- **dict** - Configuration dictionary for the robotic arm.

### Example Return Structure
```json
{
    "robot": "nero",
    "comm": {
        "type": "can",
        "can": {
            "channel": "can0",
            "interface": "socketcan",
            "bitrate": 1000000,
            "enable_check_can": true,
            "auto_connect": true,
            "timeout": 1.0
        }
    },
    "joint_names": ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6", "joint7"],
    "joint_limits": {
        "joint1": [-2.705261, 2.705261],
        "joint2": [-1.745330, 1.745330],
        "joint3": [-2.757621, 2.757621],
        "joint4": [-1.012291, 2.146755],
        "joint5": [-2.757621, 2.757621],
        "joint6": [-0.733039, 0.959932],
        "joint7": [-1.570797, 1.570797]
    }
}
```

### Usage Example
```python
from pyAgxArm import create_agx_arm_config

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
print(cfg)
```
```

--------------------------------

### GET get_joint_enable_status()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Checks the enable status of a joint motor.

```APIDOC
## GET get_joint_enable_status()

### Description
Get the enable status of the specified joint motor.

### Method
Python Method

### Parameters
#### Path Parameters
- **joint_index** (int) - Required - Joint index: 1~7 queries a single joint; 255 queries all joints.

### Response
- **status** (bool) - True means enabled, False means not enabled or no feedback available.
```

--------------------------------

### Create Arm Driver Instance

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/revo2/revo2_api.md

Creates an arm driver instance with the specified configuration. Accepts different robot types and communication configurations.

```APIDOC
## Create Arm Driver Instance — `AgxArmFactory.create_arm()`

### Description
Creates an arm driver instance based on the provided configuration.

### Method
`AgxArmFactory.create_arm(cfg)`

### Parameters
#### Request Body
- **cfg** (object) - Required - Configuration object for the arm driver. Use `create_agx_arm_config` to create this object.
  - **robot** (str) - Required - Specifies the robot model. Accepted values: `"nero"`, `"piper"`, `"piper_h"`, `"piper_l"`, `"piper_x"`.
  - **comm** (str) - Required - Communication protocol. Accepted values: `"can"`, `"ethernet"`.
  - **channel** (str) - Required - Communication channel identifier (e.g., `"can0"`, `"192.168.1.100"`).

### Request Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
```
```

--------------------------------

### GET /get_motor_states

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Reads high-speed feedback for a specific joint motor.

```APIDOC
## GET /get_motor_states

### Description
Reads high-speed feedback (position, velocity, current, torque) for a specified joint.

### Method
GET

### Endpoint
get_motor_states(joint_index)

### Parameters
#### Path Parameters
- **joint_index** (int) - Required - The joint index, range 1-6.

### Response
#### Success Response (200)
- **position** (float) - Motor position (rad)
- **velocity** (float) - Motor velocity (rad/s)
- **current** (float) - Motor current (A)
- **torque** (float) - Motor torque (N·m)
```

--------------------------------

### GET /get_joint_angles

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Retrieves the current angles of all robotic arm joints.

```APIDOC
## GET /get_joint_angles

### Description
Retrieves the current angles of all joints.

### Method
GET

### Endpoint
get_joint_angles()

### Response
#### Success Response (200)
- **angles** (list[float]) - A list of 6 floats representing joint angles [j1, j2, j3, j4, j5, j6] in radians.
```

--------------------------------

### Initialize and Connect Nero Arm via CAN

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/first_time_user_guide_can.md

Use this to initialize the Nero arm configuration for CAN communication and establish a connection. Ensure the CAN interface and channel are correctly specified.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory
robot_cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0", interface="socketcan")
robot = AgxArmFactory.create_arm(robot_cfg)
robot.connect()
robot.set_normal_mode()
```

--------------------------------

### Get Joint Angles

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Retrieves the current angle of each joint in radians.

```APIDOC
## GET /agxarm/joint_angles

### Description
Get the current angle of each joint.

### Method
GET

### Endpoint
/agxarm/joint_angles

### Response
#### Success Response (200)
- **msg** (list[float]) - A list of 6 float values representing the angles of joints j1 to j6 in radians.
- **hz** (float) - The frequency of the feedback.
- **timestamp** (float) - The timestamp of the feedback.

### Response Example
```json
{
  "msg": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6],
  "hz": 200.0,
  "timestamp": 1678886400.123456
}
```
```

--------------------------------

### Configure Multiple CAN Modules

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/can_user.md

Define the mapping of USB ports to target interface names and baud rates within the activation script.

```bash
USB_PORTS["3-1.4:1.0"]="can_left:1000000"
USB_PORTS["3-1.1:1.0"]="can_right:1000000"
```

--------------------------------

### GET get_driver_states()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Reads low-speed driver feedback for a specific joint.

```APIDOC
## GET get_driver_states()

### Description
Read the low-speed driver feedback for the specified joint (voltage / temperature / bus current / driver status bits).

### Method
Python Method

### Parameters
#### Path Parameters
- **joint_index** (int) - Required - Joint index, range: 1~7

### Response
- **vol** (float) - Driver voltage
- **foc_temp** (float) - Driver temperature (°C)
- **motor_temp** (float) - Motor temperature (°C)
- **bus_current** (float) - Bus current (A)
- **foc_status** (object) - Driver status bits
```

--------------------------------

### GET get_motor_states()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Reads high-speed motor feedback for a specific joint.

```APIDOC
## GET get_motor_states()

### Description
Read the high-speed motor feedback for the specified joint (position / velocity / current / torque).

### Method
Python Method

### Parameters
#### Path Parameters
- **joint_index** (int) - Required - Joint index, range: 1~7

### Response
- **position** (float) - Motor position (rad)
- **velocity** (float) - Motor velocity (rad/s)
- **current** (float) - Motor current (A)
- **torque** (float) - Motor torque (N·m)
```

--------------------------------

### Configuration and Connection

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

APIs for configuring and establishing a connection with the robotic arm.

```APIDOC
## create_agx_arm_config

### Description
Generate the configuration dictionary for creating a robotic arm Driver instance.

### Method
`create_agx_arm_config`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
from pyAgxArm import create_agx_arm_config

# Basic configuration for Piper arm
cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")

# Configuration for Nero arm with custom settings
cfg = create_agx_arm_config(
    robot="nero",
    comm="can",
    channel="can0",
    bitrate=1000000,
    timeout=1.0
)
```

### Response
None

## AgxArmFactory.create_arm

### Description
Create the robotic arm Driver instance using factory method.

### Method
`AgxArmFactory.create_arm`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
```

### Response
None

## connect

### Description
Establish connection and start data reading thread.

### Method
`robot.connect()`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()  # start_read_thread=True by default
```

### Response
None

## init_effector

### Description
Initialize end effector Driver and return the effector instance.

### Method
`robot.init_effector()`

### Parameters
#### Path Parameters
None

#### Query Parameters
None

#### Request Body
None

### Request Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
end_effector = robot.init_effector(robot.OPTIONS.EFFECTOR.AGX_GRIPPER)
robot.connect()
```

### Response
None
```

--------------------------------

### Get Joint Angles

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Retrieves the current angles of all joints in radians.

```APIDOC
## Get Joint Angles — `get_joint_angles()`

### Description
Get the current angles of all joints.

### Method
GET

### Endpoint
`/api/robot/joint_angles`

### Parameters
None

### Response
#### Success Response (200)
- **MessageAbstract[list[float]]** (object) - An object containing joint angles.
  - **msg** (list[float]) - A list of 7 float values representing the angles of joints j1 to j7 in radians.
  - **hz** (float) - Receive frequency for this message type (tracked by SDK), unit: Hz.
  - **timestamp** (float) - Message timestamp (recorded by SDK), unit: s.

### Response Example
```json
{
  "msg": [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7],
  "hz": 200.0,
  "timestamp": 1678886401.123456
}
```
```

--------------------------------

### Get Joint Count

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Retrieves the number of joints in the robotic arm.

```APIDOC
## Get Joint Count — `joint_nums`

### Description
Get the number of joints of the robotic arm (e.g., 7 for Nero).

### Method
GET

### Endpoint
`/api/robot/joint_count`

### Parameters
None

### Response
#### Success Response (200)
- **joint_nums** (int) - The number of joints in the robotic arm.

### Response Example
```json
{
  "joint_nums": 7
}
```
```

--------------------------------

### Create Arm Driver Instance

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Creates a robotic arm Driver instance using a factory method. Requires a configuration dictionary generated by `create_agx_arm_config()`.

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="piper", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
```

--------------------------------

### Create Arm Driver Instance - AgxArmFactory.create_arm()

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Creates the corresponding robotic arm Driver instance via a factory method based on the configuration dictionary.

```APIDOC
## Create Arm Driver Instance — `AgxArmFactory.create_arm()`

### Description
Create the corresponding robotic arm Driver instance via factory method based on the configuration dictionary.

### Method Signature
```python
create_arm(cls, config: dict, **kwargs) -> T
```

### Parameters
#### Required Parameters
- **config** (dict) - Configuration dictionary generated by `create_agx_arm_config()`

### Return Value
- **Driver** - Different arm models, communication methods, and firmware versions correspond to different instances.

### Usage Example
```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
```
```

--------------------------------

### Get Joint Angles

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Retrieves the current joint angles in radians.

```python
get_joint_angles(self) -> MessageAbstract[list[float]] | None
```

```python
import time
from pyAgxArm import create_agx_arm_config, AgxArmFactory

cfg = create_agx_arm_config(robot="nero", comm="can", channel="can0")
robot = AgxArmFactory.create_arm(cfg)
robot.connect()

while True:
    ja = robot.get_joint_angles()
    if ja is not None:
        print(ja.msg)
        print(ja.hz, ja.timestamp)
    time.sleep(0.005)
```

--------------------------------

### GET /get_arm_status

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/nero/nero_api.md

Retrieves the current operational status of the robotic arm.

```APIDOC
## GET /get_arm_status

### Description
Retrieves the current status of the robotic arm, returning a MessageAbstract object containing the arm's state.

### Method
GET

### Endpoint
get_arm_status()

### Response
#### Success Response (200)
- **status** (MessageAbstract) - The current status object of the arm.
```

--------------------------------

### Import Module

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Import necessary classes and functions from the pyAgxArm library.

```APIDOC
## Import Module

```python
from pyAgxArm import create_agx_arm_config, AgxArmFactory
```
```

--------------------------------

### Navigate to Script Directory

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/can_user.md

Change the current working directory to the location of the CAN configuration scripts on Ubuntu.

```shell
cd pyAgxArm/scripts/ubuntu
```

--------------------------------

### POST /AgxArmFactory/create_arm

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/effector/agx_gripper/agx_gripper_api.md

Creates a robotic arm driver instance based on a configuration dictionary.

```APIDOC
## POST AgxArmFactory.create_arm

### Description
Creates the corresponding robotic arm Driver instance via a factory method based on the configuration dictionary.

### Method
POST

### Parameters
#### Request Body
- **config** (dict) - Required - Configuration dictionary generated by create_agx_arm_config()

### Request Example
{
  "config": {"robot": "piper", "comm": "can", "channel": "can0"}
}
```

--------------------------------

### Get Crash Protection Rating

Source: https://github.com/agilexrobotics/pyagxarm/blob/master/docs/piper/piper_api.md

Queries the crash protection rating of each joint.

```APIDOC
## GET /api/crash-protection/rating

### Description
Query the crash protection rating of each joint (list returned by the controller).

### Method
GET

### Endpoint
/api/crash-protection/rating

### Parameters
#### Query Parameters
- **timeout** (float) - Optional - Timeout for waiting for feedback (seconds), default 1.0; 0.0 means non-blocking
- **min_interval** (float) - Optional - Minimum request interval (seconds), default 1.0

### Response
#### Success Response (200)
- **msg** (list[int]) - Crash protection rating list (in joint order), where each item is an int (range: 0~8). Higher rating means more sensitive.

### Response Example
```json
{
  "msg": [1, 2, 1, 3, 2, 1],
  "hz": 100.0,
  "timestamp": 1678886400.0
}
```
```

--------------------------------

### GET /get_joint_angle_vel_limits

Source: https://context7.com/agilexrobotics/pyagxarm/llms.txt

Query joint angle and velocity limits for a specific joint.

```APIDOC
## GET /get_joint_angle_vel_limits

### Description
Query joint angle and velocity limits for a specific joint.

### Method
GET

### Endpoint
/get_joint_angle_vel_limits

### Parameters
#### Query Parameters
- **joint_index** (int) - Required - The index of the joint to query.

### Response
#### Success Response (200)
- **msg** (object) - Contains the limit information.
  - **min_angle_limit** (float) - The minimum angle limit for the joint.
  - **max_angle_limit** (float) - The maximum angle limit for the joint.
  - **min_joint_spd** (float) - The minimum joint speed.
  - **max_joint_spd** (float) - The maximum joint speed.

#### Response Example
```json
{
  "msg": {
    "min_angle_limit": -3.14,
    "max_angle_limit": 3.14,
    "min_joint_spd": 0.1,
    "max_joint_spd": 2.0
  }
}
```
```