Page Comparison

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   set_units("mm", "deg") # set the linear and angular unit types for the program
   # waypoints are defined in the header of the program
   waypoint_1 = j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74]
   waypoint_2 = p[361.53,947.19, 937.11, 45, 0, 0]

   # the main function contains the program code
   def main():
       movel(waypoint_1) # a linear move command
       sleep(0.5) # wait for 0.5 seconds
       movej(waypoint_2) # a joint move command
       sleep(0.5) # wait for 0.5 seconds

Stubs

stubs.zip

Linear and Angular Units

The TRPL supports multiple linear and angular measurement units. It is advised to define the units used in a program as the first line of the program. Changing units at runtime is supported, but highly discouraged.

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robot_command.rpl.Joints robot_command.rpl.Joints

class robot_command.rpl.Joints(j1: float = 0.0, j2: float = 0.0, j3: float = 0.0, j4: float = 0.0, j5: float = 0.0, j6: float = 0.0)

The Joints object consists of six joint position values to be used as target for move commands or to represent the current robot joint state.

Examples

Code Block
language python linenumbers false
waypoint_1 = Joint(323.62, 345.37, 477.76, 431.10, 918.62) waypoint_2 = Joint(j3=0.543) # all other joint positions are 0.0 by default

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robot_command.rpl.Joints.copy robot_command.rpl.Joints.copy

copy() -> robot_command.rpl.joints.Joints

Creates a copy of the joints object.

Returns:

Copy of the joints object.

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robot_command.rpl.Joints.from_list robot_command.rpl.Joints.from_list

static from_list(joint_list: List[float]) -> robot_command.rpl.joints.Joints

Creates a new joint object from a list of joint positions.

Parameters:	joint_list – List of the six joint positions.
Returns:	New joints object.

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robot_command.rpl.Joints.from_ros_units robot_command.rpl.Joints.from_ros_units

from_ros_units(angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None)

Converts the joints object from native ROS units to the target units, removing the unit type if any.

Parameters:	angular_unit – Unit type for the angular joint positions.
Returns:	The resulting joints object.

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robot_command.rpl.Joints.to_list robot_command.rpl.Joints.to_list

to_list() -> List[float]

Convert the joints object to a list of joint positions.

Returns:

List of the six joint positions.

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robot_command.rpl.Joints.to_ros_units robot_command.rpl.Joints.to_ros_units

to_ros_units(angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.joints.Joints

Converts the joints object to native ROS units, removing the unit type if any. This is useful if you want to send the resulting data to a ROS service.

Parameters:	angular_unit – Unit type for the angular joint positions.
Returns:	The resulting joints object.

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robot_command.rpl.Joints.with_units robot_command.rpl.Joints.with_units

with_units(angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.joints.Joints

Adds a unit type to all positions of the joints object. The defaults are the native ROS units. In case a joint position already has units, the unit type is converted accordingly.

Parameters:	angular_unit – Unit type for the angular joint positions.
Returns:	The resulting joints object.

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robot_command.rpl.Joints.without_units robot_command.rpl.Joints.without_units

without_units(angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.joints.Joints

Removes units from the joint positions if any. If no unit type is specified ROS units are assumed.

Parameters:	angular_unit – Unit type for the angular joint positions.
Returns:	The resulting joints object.

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robot_command.rpl.get_joint_values robot_command.rpl.get_joint_values

robot_command.rpl.get_joint_values() -> robot_command.rpl.joints.Joints

Returns the current joint values.

Returns:

Current joint values.

Examples

Code Block
language python linenumbers false
joint_value = get_joint_values()

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robot_command.rpl.Pose robot_command.rpl.Pose

class robot_command.rpl.Pose(x: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, y: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, z: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, a: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, b: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, c: Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, offset: str = '')

A robot pose consists of XYZ position ABC orientation parameters.

Optionally, an offset frame can be recorded with a waypoint.

Examples

Code Block
language python linenumbers false
waypoint_1 = Pose(483.21, 34.21, 21.59, 42.03, 71.14) waypoint_2 = Pose(a=0.543) # all other coordinate values are 0.0 per default.

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robot_command.rpl.Pose.__mul__ robot_command.rpl.Pose.__mul__

__mul__(other: robot_command.rpl.pose.Pose) -> robot_command.rpl.pose.Pose

Use KDL frame multiplication to apply an offset to a pose.

Parameters:	other – Other pose.
Returns:	New pose object.

Code Block
language python linenumbers false
new_wp = waypoint_1 * Pose(x=10) # translates waypoint_1 by x=10 old_wp = new_wp * Pose(x=10).inverse() # translates new_wp back

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robot_command.rpl.Pose.copy robot_command.rpl.Pose.copy

copy() -> robot_command.rpl.pose.Pose

Creates a copy of the pose object.

Returns:

A copy of the pose.

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robot_command.rpl.Pose.from_kdl_frame robot_command.rpl.Pose.from_kdl_frame

static from_kdl_frame(frame: PyKDL.Frame) -> robot_command.rpl.pose.Pose

Converts a KDL frame to a pose object.

Parameters:	frame – KDL frame.
Returns:	New pose object.

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robot_command.rpl.Pose.from_list robot_command.rpl.Pose.from_list

static from_list(pose_list: List[float]) -> robot_command.rpl.pose.Pose

Creates a new pose object from a list of coordinates.

Parameters:	pose_list – List of the six coordinates.
Returns:	New pose object.

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robot_command.rpl.Pose.from_ros_pose robot_command.rpl.Pose.from_ros_pose

static from_ros_pose(pose: Union[geometry_msgs.msg._Pose.Pose, geometry_msgs.msg._PoseStamped.PoseStamped]) -> robot_command.rpl.pose.Pose

Converts a ROS native pose to a pose object.

Parameters:	pose – The ROS stamped pose.
Returns:	New pose object.

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robot_command.rpl.Pose.from_ros_units robot_command.rpl.Pose.from_ros_units

from_ros_units(linear_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None, angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None)

Converts the pose from native ROS units to the target units, removing the unit type.

Parameters:	linear_unit – Unit type for linear coordinates. angular_unit – Unit type for angular coordinates.
Returns:	The resulting pose.

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robot_command.rpl.Pose.inverse robot_command.rpl.Pose.inverse

inverse() -> robot_command.rpl.pose.Pose

Creates the inverse of the pose. Useful for calculating offset.

Returns:

New pose object.

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robot_command.rpl.Pose.to_kdl_frame robot_command.rpl.Pose.to_kdl_frame

to_kdl_frame() -> PyKDL.Frame

Converts the pose object to a KDL frame.

Returns:

KDL frame.

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robot_command.rpl.Pose.to_list robot_command.rpl.Pose.to_list

to_list() -> List[float]

Convert the pose to a list of the coordinates. :return: List of the six coordinates.

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robot_command.rpl.Pose.to_ros_pose robot_command.rpl.Pose.to_ros_pose

to_ros_pose() -> geometry_msgs.msg._Pose.Pose

Converts the pose object to a native ROS pose.

Returns:

ROS pose.

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robot_command.rpl.Pose.to_ros_units robot_command.rpl.Pose.to_ros_units

to_ros_units(linear_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None, angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.pose.Pose

Converts the pose to native ROS units, removing the unit type if any. This is useful if you want to send the resulting data to a ROS service.

Parameters:	linear_unit – Unit type for linear coordinates. angular_unit – Unit type for angular coordinates.
Returns:	The resulting pose.

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robot_command.rpl.Pose.with_units robot_command.rpl.Pose.with_units

with_units(linear_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None, angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.pose.Pose

Adds a unit type to all coordinates of the pose. The defaults are the native ROS units. In case a coordinate already has units, the unit type is converted accordingly.

Parameters:	linear_unit – Unit type for linear coordinates. angular_unit – Unit type for angular coordinates.
Returns:	The resulting pose.

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robot_command.rpl.Pose.without_units robot_command.rpl.Pose.without_units

without_units(linear_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None, angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> robot_command.rpl.pose.Pose

Removes units from the coordinates if any. If no unit type is specified ROS units are assumed.

Parameters:	linear_unit – Unit type for linear coordinates. angular_unit – Unit type for angular coordinates.
Returns:	The resulting pose.

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robot_command.rpl.get_pose robot_command.rpl.get_pose

robot_command.rpl.get_pose(apply_work_offset: bool = True, apply_tool_offset: bool = True) -> robot_command.rpl.pose.Pose

Returns the current robot pose.

Parameters:	apply_work_offset – Applies the active work offset to the world pose. apply_tool_offset – Applies the active tool offset to the world pose.
Returns:	Current robot pose.

Examples

Code Block
language python linenumbers false
current_pose = get_pose()

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robot_command.rpl.movej robot_command.rpl.movej

robot_command.rpl.movej(target: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints], v: float = 1.0, probe: int = 0) -> Optional[Tuple[int, rospy.rostime.Time, robot_command.rpl.joints.Joints, robot_command.rpl.pose.Pose]]

Moves the robot end effector to the target waypoint with a joints move. Targets can be local waypoints or global waypoints defined as pose or joints.

Parameters:

target – target target v – scale factor for velocity (default is full speed) probe – specify the probe mode (2-6, or 0 for no probing) Probe mode 2: look for rising edge on probe signal (i.e. contact), raise ProbeFailedError if move completes without seeing a rising edge Probe mode 3: like mode 2 but does not raise error if move completes without rising edge Probe mode 4: like mode 2 but looks for falling edge Probe mode 5: like mode 4 but does not raise an error if move completes without falling edge Probe mode 6: “retract” mode, ignore falling edges and allow motion while probe signal is active, but raise ProbeUnexpectedContactError if a rising edge is seen

Returns:

tuple of probe results (for probing mode 2,3,4,5) or None: (probe contact type (0 = no contact, 1 = rising, 2 = falling), time of probe contact, Joint positions at probe contact, End-effector position / orientation pose at probe contact)

Examples

Code Block
language python linenumbers false
movej(waypoint_1) movej("global_waypoint_1") movej(p[0, 100, 0, 90, 20, 0])

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robot_command.rpl.movel robot_command.rpl.movel

robot_command.rpl.movel(target: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints], a: float = 0.5, v: float = 0.5, probe: int = 0) -> Optional[Tuple[int, rospy.rostime.Time, robot_command.rpl.joints.Joints, robot_command.rpl.pose.Pose]]

Moves the robot end effector in a straight line from the current position to the target waypoint. Targets can be local waypoints or global waypoints defined as pose or joints.

Parameters:

target – target target v – move velocity scaling factor 0.0 - 1.0 a – move acceleration scaling factor 0.0 - 1.0 probe – specify the probe mode (2-6, or 0 for no probing) Probe mode 2: look for rising edge on probe signal (i.e. contact), raise ProbeFailedError if move completes without seeing a rising edge Probe mode 3: like mode 2 but does not raise error if move completes without rising edge Probe mode 4: like mode 2 but looks for falling edge Probe mode 5: like mode 4 but does not raise an error if move completes without falling edge Probe mode 6: “retract” mode, ignore falling edges and allow motion while probe signal is active, but raise ProbeUnexpectedContactError if a rising edge is seen

Returns:

tuple of probe results: (probe contact type (0 = no contact, 1 = rising, 2 = falling), time of probe contact, Joint positions at probe contact, End-effector position / orientation pose at probe contact)

Examples

Code Block
language python linenumbers false
movel(waypoint_1) movel("global_waypoint_1", a=0.4, v=0.2) movel(j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74])

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robot_command.rpl.movec robot_command.rpl.movec

robot_command.rpl.movec(interim: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints], target: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints], a: float = 0.5, v: float = 0.5, probe: int = 0) -> Optional[Tuple[int, rospy.rostime.Time, robot_command.rpl.joints.Joints, robot_command.rpl.pose.Pose]]

Circular/Arc move command.

Parameters:

interim – interim waypoint target – target waypoint v – move velocity scaling factor 0.0 - 1.0 a – move acceleration scaling factor 0.0 - 1.0 probe – specify the probe mode (2-6, or 0 for no probing) Probe mode 2: look for rising edge on probe signal (i.e. contact), raise ProbeFailedError if move completes without seeing a rising edge Probe mode 3: like mode 2 but does not raise error if move completes without rising edge Probe mode 4: like mode 2 but looks for falling edge Probe mode 5: like mode 4 but does not raise an error if move completes without falling edge Probe mode 6: “retract” mode, ignore falling edges and allow motion while probe signal is active, but raise ProbeUnexpectedContactError if a rising edge is seen

Returns:

tuple of probe results (for probing mode 2,3,4,5) or None: (probe contact type (0 = no contact, 1 = rising, 2 = falling), time of probe contact, Joint positions at probe contact, End-effector position / orientation pose at probe contact)

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robot_command.rpl.movef robot_command.rpl.movef

robot_command.rpl.movef(target: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints]) -> None

Free move command.

Parameters:

target – target target

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robot_command.rpl.set_work_offset robot_command.rpl.set_work_offset

robot_command.rpl.set_work_offset(name: str, pose: Optional[Union[robot_command.rpl.pose.Pose, str]] = None, position: Optional[Union[robot_command.rpl.pose.Pose, str]] = None, orientation: Optional[Union[robot_command.rpl.pose.Pose, str]] = None) -> None

Sets a work offset using a pose, position or orientation or clears an offset.

The position and orientation arguments can be combined to overwrite the pose’s position or orientation.

Parameters:

name – Name of the work offset pose – Pose to use for the work offset position – Use the position of this pose to override the position of the pose. orientation – Use the orientation of this pose to override the orientation of the pose.

Examples

Code Block
language python linenumbers false
set_work_offset("table", p[0, 100, 0, 0, 0, 0]) set_work_offset("offset_1", waypoint_2, orientation=Pose(a=90)) set_work_offset("offset_1") # clears offset_1

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robot_command.rpl.get_work_offset robot_command.rpl.get_work_offset

robot_command.rpl.get_work_offset(name: str) -> Optional[robot_command.rpl.pose.Pose]

Returns the pose of a work offset.

Parameters:	name – Name of the work offset.
Returns:	Pose of the work offset.
Raises:	TypeError – if no work offset with the name is found

Examples

Code Block
language python linenumbers false
pose = get_work_offset("table")

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robot_command.rpl.set_tool_offset robot_command.rpl.set_tool_offset

robot_command.rpl.set_tool_offset(name: str, pose: Union[robot_command.rpl.pose.Pose, str] = None, position: Union[robot_command.rpl.pose.Pose, str] = None, orientation: Union[robot_command.rpl.pose.Pose, str] = None) -> None

Sets a tool offset using a pose, position or orientation or clears an offset.

The position and orientation arguments can be combined to overwrite the pose’s position or orientation.

Parameters:

name – Name of the tool offset pose – Pose to use for the tool offset position – Use the position of this pose to override the position of the pose. orientation – Use the orientation of this pose to override the orientation of the pose.

Examples

Code Block
language python linenumbers false
set_tool_offset("some_tool", p[0, 0, 100, 0, 0, 0]) set_tool_offset("other_tool", waypoint_2, position=Pose(z=0.1)) set_tool_offset("other_tool") # clears offset other_tool

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robot_command.rpl.get_tool_offset robot_command.rpl.get_tool_offset

robot_command.rpl.get_tool_offset(name: str) -> Optional[robot_command.rpl.pose.Pose]

Returns the pose of a tool offset.

Parameters:	name – Name of the tool offset.
Returns:	Pose of the work offset or None if it does not exist.
Raises:	TypeError – if no tool offset with the name is found

Examples

Code Block
language python linenumbers false
pose = get_tool_offset("tool1")

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robot_command.rpl.set_machine_offset robot_command.rpl.set_machine_offset

robot_command.rpl.set_machine_offset(pose: Union[robot_command.rpl.pose.Pose, str], instance: str = '') -> None

Sets the origin offset for the 3D visualization of the PathPilot remote machine model.

Parameters:

pose – Pose to use for the machine offset. instance – Optional machine instance name. If not given, default instance is used.

Examples

Code Block
language python linenumbers false
set_machine_offset(p[0,0,0,90,0,0], "instance") set_machine_offset(Pose(x=100)) # sets offset for default instance

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robot_command.rpl.probel robot_command.rpl.probel

robot_command.rpl.probel(target: Union[robot_command.rpl.pose.Pose, robot_command.rpl.joints.Joints, str], a: float = 0.5, v: float = 0.1, v_retract: float = 0.1, away: bool = False) -> robot_command.rpl.pose.Pose

Simple probing cycle that returns to the initial pose (regardless of the probe result). The sequence is:

1. Linear move at specified vel / accel scale towards the target position

2. Stop at probe contact, error condition, or motion end

3. Retract to original position

4. Raise any errors from the cycle, or return the probe result

Parameters:

target – end point of probing motion (probe cycle uses movel internally) v – move velocity scaling factor 0.0 - 1.0 a – move acceleration scaling factor 0.0 - 1.0 v_retract – velocity scaling factor to use during retract phase away – Probe towards work (default) if False, otherwise probe away from work

Info
assumes mode 2/4 for probing, meaning an error will be thrown if it reaches the end without contact. Caller can catch this exception if they want mode 3/5 functionality

Examples

Code Block
language python linenumbers false
contact_pose = probel(probe_goal_pose, a=0.5, v=0.01, v_retract=0.1, away=False)

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robot_command.calibration.calculate_tool_offset_4 robot_command.calibration.calculate_tool_offset_4

robot_command.calibration.calculate_tool_offset_4(wp1: robot_command.rpl.pose.Pose, wp2: robot_command.rpl.pose.Pose, wp3: robot_command.rpl.pose.Pose, wp4: robot_command.rpl.pose.Pose) -> robot_command.rpl.pose.Pose

Calculate the XYZ coordinates of the tool offset using 4 waypoints using the center of sphere method.

Parameters:	wp1 – Waypoint 1 wp2 – Waypoint 2 wp3 – Waypoint 3 wp4 – Waypoint 4
Returns:	The tool offset pose containing the XYZ tool offset.

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robot_command.calibration.calculate_work_offset_3 robot_command.calibration.calculate_work_offset_3

robot_command.calibration.calculate_work_offset_3(origin_wp: robot_command.rpl.pose.Pose, x_axis_wp: robot_command.rpl.pose.Pose, y_axis_wp: robot_command.rpl.pose.Pose) -> robot_command.rpl.pose.Pose

Calculates the work offset origin pose based on 3 waypoints that lie on a plane.

The angular unit of all input poses must be in radians.

Parameters:	origin_wp – Origin of the plane. x_axis_wp – A waypoint that lies on the X-axis of the plane. y_axis_wp – A waypoint that lies in the direction of the Y-axis of the plane.
Returns:	Origin waypoint of the constructed work offset.

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robot_command.calibration.calculate_work_offset_4 robot_command.calibration.calculate_work_offset_4

robot_command.calibration.calculate_work_offset_4(origin_wp: robot_command.rpl.pose.Pose, x_axis_wp: robot_command.rpl.pose.Pose, y_axis_wp: robot_command.rpl.pose.Pose, position_wp: robot_command.rpl.pose.Pose) -> robot_command.rpl.pose.Pose

Calculates the work offset origin pose based on 3 waypoints that lie on a plane and one additional waypoint which is used to define the origin location.

The angular unit of all input poses must be in radians.

Parameters:	origin_wp – Origin of the plane. x_axis_wp – A waypoint that lies on the X-axis of the plane. y_axis_wp – A waypoint that lies in the direction of the Y-axis of the plane. position_wp – Origin location of the new work offset.
Returns:	Origin waypoint of the constructed work offset.