AR4 Robot Software version 6.3
We've released a new update for our AR4 robot arm.
Software version 6.3 now includes native Linux support and a redesigned, resizable interface.
Alongside this update, I've added an ROS 2 (https://anninrobotics.com/ros2) page on the website featuring two community GitHub repositories from Yifei Cheng (https://www.linkedin.com/in/yfcheng/) and Ekumen Labs.
Thank you to Jason Kirk (https://www.linkedin.com/company/103071313/admin/page-posts/published/#) for helping with the Linux updates.
You can follow us at Annin Robotics (https://www.linkedin.com/company/annin-robotics/) on LinkedIn.
anninrobotics.com
anninrobotics.com/ros2
hey @chrisannin I have the same problem running it on linux, I used ChatGPT and change some code lines but still cant open it, even the ChatGPT notices me that the file robot_kinematics.pyd. the extension: .pyd isnt compatible with linux. Could you help us please?
Now when i try to move any joint, the software crash and give the next error, if anyone have any idea how to fix it, i really appreciate
it looks like there is some kind of problem with the LiveJointJog
ARrobots: 2026-02-12 21:45:48,038 [ERROR] no camera
ARrobots: 2026-02-12 21:45:48,458 [INFO] COMMUNICATIONS STARTED WITH TEENSY 4.1 CONTROLLER on Port COM6
ARrobots: 2026-02-12 21:45:48,492 [INFO] COMMUNICATIONS STARTED WITH TEENSY 4.1 CONTROLLER
ARrobots: 2026-02-12 21:45:49,295 [ERROR] UNABLE TO ESTABLISH COMMUNICATIONS WITH ARDUINO IO BOARD
Exception in Tkinter callback
Traceback (most recent call last):
File "C:\Users\Owner\AppData\Local\Programs\Python\Python312\Lib\tkinterinit.py", line 1968, in call
return self.func(*args)
^^^^^^^^^^^^^^^^
File "C:\Users\Owner\Desktop\ar4\AR4-HMI-interface-6.3.1-source (2)\AR4 HMI interface 6.3.1 source\AR4mod.py", line 11545, in SelJ1jogNeg
LiveJointJog(10)
File "C:\Users\Owner\Desktop\ar4\AR4-HMI-interface-6.3.1-source (2)\AR4 HMI interface 6.3.1 source\AR4mod.py", line 5528, in LiveJointJog
command = "LJ"+"V"+str(value)+speedPrefix+Speed+"Ac"+ACCspd+"Dc"+DECspd+"Rm"+ACCramp+"W"+RUN['WC']+"Lm"+LoopMode+"\n"
^^^^^^^^^^^
UnboundLocalError: cannot access local variable 'speedPrefix' where it is not associated with a value
5 replies
sebastian hernandez
Hello everyone, I've tried to install the software and followed all the steps in this video to get it working on Linux, but every time I enter the command python AR4.py, it generates an error and the software doesn't open. If anyone could help me, I would appreciate it.
(venv) diogenes@diogenes:~/github/ar4-hmi$ python AR4.py
Traceback (most recent call last):
File "/home/diogenes/github/ar4-hmi/AR4.py", line 150, in
from ttkbootstrap import * # This makes ttkbootstrap widgets available globally
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "", line 1410, in _handle_fromlist
File "", line 1406, in _handle_fromlist
TypeError: Item in ttkbootstrap.all must be str, not type
Jason Kirk
Have you done a pip install -r requirements.txt to make sure that ttkbootstrap is installed?
sebastian hernandez
hi @technology, @mateocruz "i" (chatgpt) was able to solve the problem, it looks like there is some trobule with the ttkbootstrap, and in many lines where = LabelFrame or = Label or =Frame, it has to be ttk.LabelFrame or ttk.Label or ttk.Frame, also i added the line 150 and commented the 151, after all those change, the software was able to run on python from the command line, in windows and linux.
i'm sorry if i don't use the right terms, i'm just new on programing.
Unfortunately now the software open, but i have some errors when i tried to move the loints, but the servos (gripper and others) does move... if you have any idea, i would appreciate.
thanks!!!