UFactory xArm 6 Robot Arm

Drive a UFACTORY xArm 6 (also xArm 5/7, Lite 6, 850) from Python with the official xArm-Python-SDK: connect by IP, clear errors, enable motion, set mode and state, joint and Cartesian moves, read joints and TCP pose, gripper, collision sensitivity, reduced mode, emergency stop and recovery, plus the safe-motion rules to follow before moving a real arm. Also covers the UFACTORY Studio web UI (port 18333), the control box ports (502, 504, 30001-30003) and the ROS 2 launch files. Trigger words: xarm, xArm 6, ufactory, move the xarm, xarm python sdk, XArmAPI, set_servo_angle, set_position, get_position, get_servo_angle, motion_enable, set_mode, set_state, clean_error, xarm error, xarm gripper, ufactory studio, xarm ip, xarm emergency stop, xarm ros2, xarm moveit.

Use the UFACTORY xArm 6 digital twin from the xArm 6 wiki page: per-link GLBs (link_base..link6) plus kinematics.json in millimetres, Z-up, composed into a joint chain you can pose from live joint angles; forward kinematics in Python; mounting the twin on a plate or table in a larger scene; matching the twin to the real arm's SDK readings. Trigger words: xarm twin, xarm 6 glb, xarm digital twin, xarm 3d model, pose the xarm model, xarm forward kinematics, xarm fk, xarm kinematics.json, xarm urdf to glb, xarm in babylon, xarm in three.js, mount the xarm model, xarm base frame.