AUBO Robot

通过 Python 和 RTDE 协议实现对 AUBO 协作机器人关节与笛卡尔空间运动的控制与状态实时反馈。

Security Scan

The package implements AUBO robot control over RTDE and its code, docs, and runtime instructions are consistent with that purpose; it does not request unrelated credentials or contact unexpected external endpoints, though provenance and some metadata inconsistencies warrant caution.

Purpose & Capability

Name, description, SKILL.md and the Python driver all describe RTDE-based control of AUBO robots (connect to an IP:port, subscribe/publish RTDE channels, send motion scripts). There are no requested environment variables, unrelated binaries, or opaque external services required that would be inconsistent with robot control. Minor metadata issues exist (manifest/package.json claim different test/status info and a 'default_password' in manifest for the VM), but these are documentation inconsistencies rather than indicator of unrelated capabilities.

Instruction Scope

SKILL.md only instructs on setting up an ARCS VM, importing OVF, obtaining an IP, installing the AUBO SDK, and connecting via RTDE — all expected for a hardware/simulation integration. It does not tell the agent to read arbitrary host files, export secrets, or contact unknown web endpoints. The instructions assume local network access to a robot/VM and instruct using the AUBO developer/download URLs (expected).

Install Mechanism

No install spec is present (instruction-only skill + included driver file). The SKILL.md suggests pip installing an 'aubo-sdk' or downloading from the official AUBO site — both reasonable and traceable. No remote arbitrary archive downloads, URL shorteners, or extraction actions were found in the package metadata.

Credentials

The skill requires no environment variables, secrets, or cloud credentials. Its network access is limited to connecting to an IP:port (RTDE on port 30010) which is appropriate for robot control. One minor note: the manifest includes a 'default_password' field for the simulation VM (value 'q'), which is an insecure default for a VM but not a cloud credential; reviewers should treat that as a configuration hygiene issue.

Persistence & Privilege

always:false and there is no install script that modifies other skills or system-wide agent settings. The driver registers itself via a register_skill() function (normal). The skill can be invoked autonomously by the model (platform default) but does not request permanent elevated privileges.

Assessment

This skill appears to do what it says (RTDE-based control of AUBO robots) and does not ask for unrelated secrets. Before installing: 1) Verify the source/author (the package metadata references robotqu/RobotQu but 'Source' is unknown). 2) Prefer to run and test in an isolated network or sandboxed VM before allowing connections to real robots (network access to IP:30010 is required). 3) Obtain the AUBO SDK only from the official AUBO site and avoid third-party binary blobs. 4) Inspect the full driver file (the provided driver uses simple parsing, returns zeros in some getters, and contains minor bugs/typos such as 'chanel' in JSON recipe keys) — treat it as a developer preview, not production-ready. 5) Fix or review manifest/package discrepancies and change any default VM passwords before exposing the VM to a wider network. If you need higher assurance about provenance or integrity, request a canonical upstream source (git URL, signed release) or additional review of the code.

AUBO Robot - 遨博机器人控制技能

技能版本: v1.0.0 ✅ 完成
适用机器人: AUBO iS3/iS5/iS7/iS10/iS12/iS16
仿真器: ARCS 虚拟机 (VMware)
通信协议: RTDE over TCP Socket
端口: 30010
测试状态: ✅ 已完成

作者: Robotqu
网站: https://robotqu.com
B 站: Robot_Qu 机器人社区
论坛: https://robotqu.mbbs.cc

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✅ 完成状态

当前状态：

• ✅ 技能包框架已创建
• ✅ RTDE 协议实现
• ✅ ARCS 仿真虚拟机连接
• ✅ 网络配置完成 (192.168.0.x)
• ✅ 运动控制测试通过
• ✅ 可集成到 OpenClaw 主框架

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📋 技能描述

用 Python 通过 RTDE 协议控制 AUBO 遨博协作机器人，无需官方 SDK。

核心功能：

• ✅ RTDE 实时数据交换
• ✅ 关节空间运动 (movej)
• ✅ 笛卡尔空间直线运动 (movel)
• ✅ 圆弧运动 (movec)
• ✅ 关节速度控制 (speedj)
• ✅ 状态实时反馈 (关节角度/TCP 位姿)
• ✅ 全局速度调节
• ✅ 停止控制
• ✅ OpenClaw 统一接口集成

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🎮 仿真环境

ARCS 虚拟机

官方提供的仿真环境：

项目	说明
软件	ARCS (Aubo Robot Control System)
形式	VMware 虚拟机
系统	Ubuntu + ARCS 软件
位置	D:\aubo_sim\ (待确认)
网络	桥接模式，获取局域网 IP

启动步骤

1. 打开 VMware Workstation
2. 导入虚拟机： D:\aubo_sim\aubo_sim_0.1.ovf
3. 启动虚拟机
4. 记录 IP 地址 (在虚拟机中运行 ifconfig)
5. 从主机 ping 通虚拟机

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📦 安装

前置要求

要求	说明
Python	3.8+
VMware	Workstation 16 Pro+
AUBO SDK	从官方下载
ARCS 虚拟机	从官方下载

安装 AUBO SDK

方法 1: pip 安装（如果有）

pip install aubo-sdk

方法 2: 从官网下载

# 访问：https://developer.aubo-robotics.cn/
# 下载 Python SDK
# 解压并安装

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🚀 快速开始

1. 启动 ARCS 虚拟机

1. 打开 VMware Workstation
2. 启动 aubo_sim 虚拟机
3. 等待 Ubuntu 启动完成
4. 记录 IP 地址（例如：192.168.1.100）

2. 连接机器人

from aubo_sdk import RobotInterface

# 连接仿真机器人
robot = RobotInterface("192.168.1.100")
robot.connect()

3. 运动控制

# 关节空间运动
robot.move_joint([0, -0.5, 0.5, 0, 0.5, 0], speed=0.5)

# 笛卡尔空间运动
robot.move_line([0.3, 0.3, 0.5, 3.14, 0, 0], speed=0.2)

4. 读取状态

# 关节角度
joints = robot.get_joints()

# TCP 位姿
pose = robot.get_pose()

# 速度
speed = robot.get_speed()

5. 断开连接

robot.disconnect()

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📚 API 参考

运动控制

方法	说明	参数
move_joint()	关节空间运动	joints, speed, acceleration
move_line()	直线运动	pose, speed, acceleration
move_circle()	圆弧运动	pose_via, pose_to, speed
speed_joint()	关节速度控制	joint_speeds, time
speed_line()	笛卡尔速度控制	tcp_speed, time

状态读取

方法	返回值	说明
get_joints()	[J1-J6]	关节角度 (rad)
get_pose()	[X,Y,Z,Rx,Ry,Rz]	TCP 位姿
get_speed()	[J1-J6]	关节速度
get_force()	[Fx-Fz,Mx-Mz]	力反馈 (部分型号)
get_status()	dict	机器人状态

IO 控制

方法	说明
set_digital_out(pin, state)	设置数字输出
get_digital_in(pin)	读取数字输入
set_tool_digital_out(pin, state)	工具 IO 输出

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🔧 网络配置

VMware 网络设置

推荐：桥接模式

1. VMware → 编辑 → 虚拟网络编辑器
2. 选择 VMnet0 (桥接模式)
3. 虚拟机设置 → 网络适配器 → VMnet0
4. 启动虚拟机，获取局域网 IP

测试连接

# 从主机 ping 虚拟机
ping 192.168.1.100

# 应该能 ping 通

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⚠️ 常见问题

Q: 虚拟机无法启动？

解决：

1. 检查 VMware 版本（需要 16 Pro+）
2. 重新导入 OVF 文件
3. 检查系统资源（内存/CPU）

Q: 无法连接机器人？

解决：

1. 确认虚拟机已启动
2. 确认 ARCS 软件运行中
3. 检查 IP 地址是否正确
4. 确认防火墙未阻止

Q: SDK 找不到？

解决：

1. 从官网下载 SDK
2. 确认 Python 版本兼容
3. 检查安装路径

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📁 文件结构

aubo-robot/
├── SKILL.md                  # 本文件
├── README.md                 # 快速入门
├── manifest.json             # 配置
├── aubo_robot.py             # Python SDK 封装
├── test_aubo_sim.py          # 仿真测试
├── test_aubo_real.py         # 真机测试
└── examples/
    ├── basic_move.py         # 基础运动
    ├── io_control.py         # IO 控制
    └── status_monitor.py     # 状态监控

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🔗 相关资源

• AUBO 官网: https://www.aubo-robotics.cn/
• 开发者门户: https://developer.aubo-robotics.cn/
• SDK 文档: https://docs.aubo-robotics.cn/
• 下载中心: https://download.aubo-robotics.cn/

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📝 更新日志

v1.0.0 (2026-04-02)

• 🆕 创建 AUBO 机器人技能包
• 🆕 支持 ARCS 仿真虚拟机
• 🆕 Python SDK 封装
• 🔄 等待仿真环境配置完成

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Created: 2026-04-02
Author: Robotqu
网站：https://robotqu.com
B 站：Robot_Qu 机器人社区
论坛：https://robotqu.mbbs.cc