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Control robot arm operations for your Device Under Test (DUT) - motion commands, motor control, and position utilities. All positions are in millimeters (mm).

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Syntax

lager arm [OPTIONS] [NETNAME] COMMAND [ARGS]...

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Global Options

OptionDescription
--box TEXTLagerbox name or IP
--helpShow help message and exit

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Arguments

ArgumentDescription
NETNAMEArm net name (optional if default is set)

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Commands

CommandDescription
positionGet current arm position
moveMove to an absolute XYZ position
move-byMove by relative dX dY dZ offsets
go-homeMove the arm to its home position (X0 Y300 Z0)
enable-motorEnable arm motors
disable-motorDisable arm motors
read-and-save-positionSave current position as calibration reference
set-accelerationSet arm acceleration parameters

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Command Reference

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position

Get the current arm position in millimeters. 
lager arm [NETNAME] position [OPTIONS]
Options:
  • --box TEXT - Lagerbox name or IP
Example: 
lager arm ARM1 position --box my-lager-box

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move

Move the arm to an absolute XYZ position in millimeters. 
lager arm [NETNAME] move X Y Z [OPTIONS]
Arguments:
  • X - Target X position (mm)
  • Y - Target Y position (mm)
  • Z - Target Z position (mm)
Options:
  • --box TEXT - Lagerbox name or IP
  • --timeout FLOAT - Move timeout in seconds (default: 5.0)
  • --yes - Confirm the action without prompting
Examples: 
# Move to specific coordinates
lager arm ARM1 move 100 200 50 --box my-lager-box --yes

# Move with custom timeout
lager arm ARM1 move 150 250 75 --timeout 10.0 --yes

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move-by

Move the arm by relative offsets (delta movement) in millimeters. 
lager arm [NETNAME] move-by [DX] [DY] [DZ] [OPTIONS]
Arguments:
  • DX - Delta X offset (default: 0.0)
  • DY - Delta Y offset (default: 0.0)
  • DZ - Delta Z offset (default: 0.0)
Options:
  • --box TEXT - Lagerbox name or IP
  • --timeout FLOAT - Move timeout in seconds (default: 5.0)
  • --yes - Confirm the action without prompting
Examples: 
# Jog the arm by +5 mm in every axis
lager arm ARM1 move-by 5 5 5 --box my-lager-box --yes

# Move only in Z axis
lager arm ARM1 move-by 0 0 10 --yes

# Move with custom timeout
lager arm ARM1 move-by 10 0 0 --timeout 3.0 --yes

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go-home

Move the arm to its home position (X0 Y300 Z0). 
lager arm [NETNAME] go-home [OPTIONS]
Options:
  • --box TEXT - Lagerbox name or IP
  • --yes - Confirm the action without prompting
Example: 
lager arm ARM1 go-home --box my-lager-box --yes

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enable-motor

Enable the arm’s motor drivers. 
lager arm [NETNAME] enable-motor [OPTIONS]
Options:
  • --box TEXT - Lagerbox name or IP
Example: 
lager arm ARM1 enable-motor --box my-lager-box

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disable-motor

Disable the arm’s motor drivers. Use this before manual manipulation of the arm. 
lager arm [NETNAME] disable-motor [OPTIONS]
Options:
  • --box TEXT - Lagerbox name or IP
Example: 
lager arm ARM1 disable-motor --box my-lager-box

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read-and-save-position

Read the current position and save it as a calibration reference. 
lager arm [NETNAME] read-and-save-position [OPTIONS]
Options:
  • --box TEXT - Lagerbox name or IP
Example: 
lager arm ARM1 read-and-save-position --box my-lager-box

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set-acceleration

Set arm acceleration parameters for movement control. 
lager arm [NETNAME] set-acceleration ACCELERATION TRAVEL [RETRACT] [OPTIONS]
Arguments:
  • ACCELERATION - Acceleration value (integer, >= 0)
  • TRAVEL - Travel acceleration value (integer, >= 0)
  • RETRACT - Retract acceleration value (integer, >= 0, default: 60)
Options:
  • --box TEXT - Lagerbox name or IP
Example: 
# Set acceleration parameters
lager arm ARM1 set-acceleration 100 80 60 --box my-lager-box

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Listing Arm Nets

When invoked with only --box and no subcommand, lists all arm nets on the gateway: 
lager arm --box my-lager-box
Output: 
Name    Net Type  Instrument     Channel  Address
ARM1    arm       Rotrics_Dexarm 0        /dev/ttyUSB0

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Examples

# List arm nets
lager arm --box my-lager-box

# Get current position
lager arm ARM1 position --box my-lager-box

# Move to home position
lager arm ARM1 go-home --box my-lager-box --yes

# Move to specific coordinates
lager arm ARM1 move 100 250 30 --box my-lager-box --yes

# Jog the arm by +5 mm in X direction
lager arm ARM1 move-by 5 0 0 --box my-lager-box --yes

# Disable motors for manual adjustment
lager arm ARM1 disable-motor --box my-lager-box

# Re-enable motors after adjustment
lager arm ARM1 enable-motor --box my-lager-box

# Save current position as reference
lager arm ARM1 read-and-save-position --box my-lager-box

# Configure acceleration
lager arm ARM1 set-acceleration 100 80 60 --box my-lager-box

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Supported Hardware

ManufacturerModelDescription
RotricsDexarmDesktop robot arm with 3-axis control

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Notes

  • All positions are in millimeters (mm)
  • Home position is X0 Y300 Z0
  • Use --yes flag for non-interactive scripts and CI pipelines
  • Always re-enable motors after disabling them to resume normal operation
  • The --timeout option prevents commands from hanging if the arm fails to reach position
  • Default net can be set with lager defaults add --arm-net