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Lager provides a unified command-line interface for controlling and automating robotic arms through the lager arm command group. This interface allows users to interact with supported robot arms for a wide range of automation, testing, and calibration tasks—all from a terminal or in scripts. The lager arm command enables you to:
  • Enable or disable motors
  • Move the arm to absolute or relative positions
  • Return the arm to its home position
  • Read and save the current arm position
  • Query current position and adjust as needed
These commands are designed to be intuitive and safe, supporting both manual and automated workflows. With a simple, scriptable interface, lager arm helps engineers, developers, and technicians integrate robot arm actions into repeatable test scripts.
Tip: All lager arm commands require you to specify the Lager Box (DUT) using the --box option, e.g. --box my-lager-box.
In the following sections, you’ll find detailed explanations and usage examples for each command, as well as step-by-step guides for common workflows like calibration and troubleshooting.

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Command Reference

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move-by

Adjust Arm Position by Relative Deltas Use lager arm move-by to move the robot arm by specified increments (deltas) along the X, Y, and Z axes. This is useful for fine adjustments or scripting stepwise movement patterns without calculating absolute coordinates. Usage: 
lager arm NETNAME move-by [DX] [DY] [DZ] [--box <LAGER-BOX>]
Arguments:
  • NETNAME — Name of the arm net to control
  • DX — Delta X in mm (optional, default: 0.0)
  • DY — Delta Y in mm (optional, default: 0.0)
  • DZ — Delta Z in mm (optional, default: 0.0)
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --timeout FLOAT — Move timeout in seconds (default: 5.0)
  • --yes — Automatically confirm the action without interactive prompt
  • --help — Show command-specific help
Example: 
lager arm myarm move-by 5 -2 0 --box my-lager-box
This example moves the arm 5mm in X, -2mm in Y, and does not change Z.

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disable-motor

Deactivate the Robot Arm Motor The lager arm disable-motor command safely disables (powers down) the motors of the arm, placing it in a deactivated state. This can be used before physical adjustments, for safety, or as part of a calibration/reset workflow. Usage: 
lager arm NETNAME disable-motor --box <LAGER-BOX>
Arguments:
  • NETNAME — Name of the arm net to control
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --help — Show command-specific help
Example: 
lager arm myarm disable-motor --box my-lager-box
This disables the motor on the arm.

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enable-motor

Activate the Robot Arm Motor Use lager arm enable-motor to power up and enable the motors on the robot arm, making it ready for movement commands. This should be run before issuing any move commands if the motors are currently disabled. Usage: 
lager arm NETNAME enable-motor --box <LAGER-BOX>
Arguments:
  • NETNAME — Name of the arm net to control
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --help — Show command-specific help
Example: 
lager arm myarm enable-motor --box my-lager-box
This activates the arm’s motors so you can begin sending movement commands.

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go-home

Move the Arm to Its Home Position The lager arm go-home command returns the robot arm to its default home position (X=0, Y=300, Z=0). This is typically used to initialize or reset the arm before starting a new task, or after calibration. Usage: 
lager arm NETNAME go-home --box <LAGER-BOX>
Arguments:
  • NETNAME — Name of the arm net to control
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --yes — Confirm the action without prompting
  • --help — Show command-specific help
Example: 
lager arm myarm go-home --box my-lager-box
This moves the arm to its home coordinates, which is often required after saving a new position or before running automated tests.

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move

Move to an Absolute Position The lager arm move command moves the robot arm to a specified absolute position in X, Y, Z space. This is the most direct way to position the arm precisely for a task or workflow. Usage: 
lager arm NETNAME move X Y Z [--box <LAGER-BOX>]
Arguments:
  • NETNAME — Name of the arm net to control
  • X — Absolute X coordinate in mm (required)
  • Y — Absolute Y coordinate in mm (required)
  • Z — Absolute Z coordinate in mm (required)
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --timeout FLOAT — Move timeout in seconds (default: 5.0)
  • --yes — Confirm the action without prompting
  • --help — Show command-specific help
Example: 
lager arm myarm move 150 250 75 --box my-lager-box
This moves the arm to position (150, 250, 75) in absolute coordinates.

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position

Get Arm Position The lager arm position command queries and prints the current position of the robot arm. This is useful for verifying the arm’s current coordinates before and after movements, or during calibration. Usage: 
lager arm NETNAME position --box <LAGER-BOX>
Arguments:
  • NETNAME — Name of the arm net to control
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --help — Show command-specific help
Example: 
lager arm myarm position --box my-lager-box
Returns the current X, Y, Z position of the arm.

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read-and-save-position

Read and Save Arm Position The lager arm read-and-save-position command reads the current position of the arm and saves it as the reference (zero or home) position. This is an essential step in calibration workflows and can help recover from errors or missed steps. Usage: 
lager arm NETNAME read-and-save-position --box <LAGER-BOX>
Arguments:
  • NETNAME — Name of the arm net to control
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --help — Show command-specific help
Example: 
lager arm myarm read-and-save-position --box my-lager-box
This saves the current arm position as the new reference point.

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set-acceleration

Set Arm Acceleration Parameters The lager arm set-acceleration command configures the acceleration parameters for arm movements. This allows you to control movement speed and smoothness. Usage: 
lager arm NETNAME set-acceleration ACCELERATION TRAVEL [RETRACT] [--box <LAGER-BOX>]
Arguments:
  • NETNAME — Name of the arm net to control
  • ACCELERATION — Acceleration value (minimum: 0)
  • TRAVEL — Travel acceleration value (minimum: 0)
  • RETRACT — Retract acceleration value (optional, default: 60)
Options:
  • --box TEXT — ID of the Lager Box (required)
  • --help — Show command-specific help
Example: 
lager arm myarm set-acceleration 100 80 60 --box my-lager-box
This sets the arm’s acceleration parameters for smoother or faster movements.

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Calibrating the Robot Arm

If the robot arm loses its position, gets stuck, or if you experience errors related to movement accuracy, you may need to reset the encoder values and recalibrate the arm. This ensures that the arm’s internal coordinate system is synchronized with its actual physical position.
  1. Disable the Arm Motors Before adjusting the arm manually, disable the motors to prevent any accidental movement: 
    lager arm NETNAME disable-motor --box <LAGER-BOX>
  2. Manually Adjust the Arm to the Calibration Position Move the arm by hand so that Axis 1 and Axis 2 are in their maximum positions, as shown below: DexArm Home Position
  3. Read and Save the Current Arm Position Save this manually-set position as the arm’s reference (zero) position: 
    lager arm NETNAME read-and-save-position --box <LAGER-BOX>
  4. Send the Arm to Its Home Position Now return the arm to its programmed home position to complete the calibration: 
    lager arm NETNAME go-home --box <LAGER-BOX>
  5. Calibration Complete The arm’s encoder values are now reset. The arm should move smoothly and report accurate positions. If you continue to experience issues, repeat the process or check for mechanical obstructions.
Troubleshooting Tips:
  • Always disable the motors before physically moving the arm.
  • Ensure no force is applied to the arm while motors are active.
  • Use the lager arm position command at any time to verify current coordinates.
Example Calibration Sequence 
lager arm myarm disable-motor --box my-lager-box
# (Manually move the arm to calibration position)
lager arm myarm read-and-save-position --box my-lager-box
lager arm myarm go-home --box my-lager-box
This workflow will ensure that your robot arm is accurately calibrated and ready for precision automation.