How do I install the Soarm Control skill?

Run npx skillmds@latest add dvcrn/soarm-control in your terminal (requires Node.js), paste this page's agent-chat prompt into Claude, Cursor, or any MCP-connected agent, or download the SKILL.md file and copy it into your agent's skills directory.

Is Soarm Control safe to use?

This skill has not completed SkillMD's automated safety review yet. Independent scanners report: SkillSpector: PASS, Skill Scanner: PASS. Capability flags: executes scripts, makes network calls. SkillMD never runs a skill's scripts for you; review the SKILL.md before installing.

Which AI agents work with Soarm Control?

This skill is tagged as working with Claude Code, Claude.ai, OpenAI Codex. SKILL.md is an open format, so most agents that read a skills directory can load it too.

Is Soarm Control free to use?

Yes. Installing skills from SkillMD is free, and the skill stays under its author's original license.

Who published Soarm Control?

dvcrn (@dvcrn) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Soarm Control by dvcrn — Agent Skill

Name: Soarm Control
Rating: 4.2 (5 reviews)
Author: dvcrn

File contents

🦐 SOARM Control Skill

Use the existing SOARM API to control the robotic arm directly.

⚙️ Configuration Notes

Default Local Setup (when on same machine):

API Base URL: http://127.0.0.1:8000

🔍 Key APIs & Examples

Read Current State

curl -sS http://127.0.0.1:8000/joints

Returns current joint values and XYZ end-effector position.

Move To a Position By Joint Angles

curl -sS -X POST http://127.0.0.1:8000/move/joints \
  -H 'Content-Type: application/json' \
  -d '{"angles":[0,0,0,0,0,0]}'

Parameter Notes:

Joints order: shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper
First 5 joints use degrees (deg)
Gripper uses 0-100 range

Fixed Positions:

Name	shoulder_pan	shoulder_lift	elbow_flex	wrist_flex	wrist_roll	gripper
`initial`	0	-104	95	65	-95	10
`top_down`	0	-50	30	90	-95	70

Examples:

Return to initial:

curl -sS -X POST http://127.0.0.1:8000/move/joints \
  -H 'Content-Type: application/json' \
  -d '{"angles":[0,-104,95,65,-95,10]}'

Return to top_down:

curl -sS -X POST http://127.0.0.1:8000/move/joints \
  -H 'Content-Type: application/json' \
  -d '{"angles":[0,-50,30,90,-95,70]}'

Move By XYZ Coordinates

curl -sS -X POST http://127.0.0.1:8000/move/xyz \
  -H 'Content-Type: application/json' \
  -d '{"x":0.2,"y":0.0,"z":0.2}'

Parameter Notes:

x: forward/backward (positive = forward)
y: left/right (positive = left)
z: up/down (positive = up)
Values in meters

Trigger a Pick Task

curl -sS -X POST http://127.0.0.1:8000/pick

Returns:

ok: true if the task was accepted
message: 抓取任务已启动
Returns HTTP 409 if another pick task is already running

🐙 Quick Commands I Can Run

Return to initial position

curl -sS -X POST http://localhost:8000/move/joints \
  -H 'Content-Type: application/json' \
  -d '{"angles":[0,-104,95,65,-95,10]}'

Return to top-down position

curl -sS -X POST http://localhost:8000/move/joints \
  -H 'Content-Type: application/json' \
  -d '{"angles":[0,-50,30,90,-95,70]}'

Read current position

curl -sS http://localhost:8000/joints

🛠️ Setup Notes

When pairing your SOARM device with OpenClaw:

Organize the skill directory

├── references
│   └── so101_new_calib.urdf  # download from TheRobotStudio 
├── scripts
│   ├── best.pt  # yolo11n model
│   ├── control_soarm_joints.py
│   ├── move_soarm_to_xyz_pinocchio.py
│   ├── read_soarm_joints.py
│   ├── soarm_api.py
│   └── start_server.sh
└── SKILL.md

Perpare lerobot env

Launch the server

~/.openclaw/workspace/skills/soarm-control 
bash scripts/start_server.sh

---name: soarm-controldescription: Control the robotic arm through the OpenClaw SOARM API. Use this skill when reading current joint state, moving by joint angles, moving by XYZ coordinates, or handling SOARM robot-control requests.---# 🦐 SOARM Control SkillUse the existing SOARM API to control the robotic arm directly.## ⚙️ Configuration Notes**Default Local Setup (when on same machine):**- API Base URL: `http://127.0.0.1:8000`## 🔍 Key APIs & Examples### Read Current State```bashcurl -sS http://127.0.0.1:8000/joints```Returns current joint values and XYZ end-effector position.---### Move To a Position By Joint Angles```bashcurl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,0,0,0,0,0]}'```**Parameter Notes:**- Joints order: `shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper`- First 5 joints use **degrees (deg)**- Gripper uses **0-100** range**Fixed Positions:**| Name | shoulder_pan | shoulder_lift | elbow_flex | wrist_flex | wrist_roll | gripper ||---|---:|---:|---:|---:|---:|---:|| `initial` | 0 | -104 | 95 | 65 | -95 | 10 || `top_down` | 0 | -50 | 30 | 90 | -95 | 70 |**Examples:**Return to `initial`:```bashcurl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-104,95,65,-95,10]}'```Return to `top_down`:```bashcurl -sS -X POST http://127.0.0.1:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-50,30,90,-95,70]}'```---### Move By XYZ Coordinates```bashcurl -sS -X POST http://127.0.0.1:8000/move/xyz \ -H 'Content-Type: application/json' \ -d '{"x":0.2,"y":0.0,"z":0.2}'```**Parameter Notes:**- `x`: forward/backward (positive = forward)- `y`: left/right (positive = left) - `z`: up/down (positive = up)- Values in **meters**---### Trigger a Pick Task```bashcurl -sS -X POST http://127.0.0.1:8000/pick```Returns:- `ok`: true if the task was accepted- `message`: `抓取任务已启动`- Returns HTTP `409` if another pick task is already running---## 🐙 Quick Commands I Can Run### Return to initial position```bashcurl -sS -X POST http://localhost:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-104,95,65,-95,10]}'```### Return to top-down position```bashcurl -sS -X POST http://localhost:8000/move/joints \ -H 'Content-Type: application/json' \ -d '{"angles":[0,-50,30,90,-95,70]}'```### Read current position```bashcurl -sS http://localhost:8000/joints```---## 🛠️ Setup NotesWhen pairing your SOARM device with OpenClaw:1. **Organize the skill directory** ```bash ├── references │ └── so101_new_calib.urdf # download from TheRobotStudio ├── scripts │ ├── best.pt # yolo11n model │ ├── control_soarm_joints.py │ ├── move_soarm_to_xyz_pinocchio.py │ ├── read_soarm_joints.py │ ├── soarm_api.py │ └── start_server.sh └── SKILL.md ```2. **Perpare lerobot env**3. **Launch the server** ```bash ~/.openclaw/workspace/skills/soarm-control bash scripts/start_server.sh ```---

Frequently asked questions

Soarm Control