Page Comparison

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• Tormach Robot Programming Language

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    Supported Commands

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    Program structure

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    Linear and Angular Units

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    Waypoints

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    Movement

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    Work and Tool Offsets

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    Digital I/O

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    PathPilot Remote

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    Notifications

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    Program Flow

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    Persistent Parameter Storage

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    Probing

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    Calibration

The TRPL is based on Python. All commands interpreted by the TRPL interpreter are Python code, which means you can use any Python code to control the robot. However, the graphical conversational programming utility only supports re-interpretation of a subset of commands as defined here.

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• change_work_offset()

• set_work_offset()

• get_work_offset()

• work_offset()

• change_tool_offset()

• set_tool_offset()

• get_tool_offset()

• get_param()

• set_param()

• get_pathpilot_state()

• get_units()

• set_machine_offset()

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Anchor
robot_command.rpl.set_units robot_command.rpl.set_units

robot_command.rpl.set_units(angularlinear: Optional[Union[str, pint.util.SharedRegistryObject]] = None, linearangular: Optional[Union[str, pint.util.SharedRegistryObject]] = None) -> None

Sets the active linear and angular units for the program.

Parameters:

linear – Linear/length unit type: m, mm, inch angular – Angular/rotation unit type: deg, rad

Examples

Code Block
language python linenumbers false
set_units("mm", "deg") set_units(linear="in") set_units(angular="rad")

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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. :return:

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:

param

joint_list

:

– List of the six joint positions.

Returns:

return:

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:

param

angular_unit

:

– Unit type for the angular joint positions.

Returns:

return:

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:

return:

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:

param

angular_unit

:

– Unit type for the angular joint positions.

Returns:

return:

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:

param

angular_unit

:

– Unit type for the angular joint positions.

Returns:

return:

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:

param

angular_unit

:

– Unit type for the angular joint positions.

Returns:

return:

The resulting joints object.

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robot_command.rpl.JointsFactory robot_command.rpl.JointsFactory

class robot_command.rpl.JointsFactory

The JointFactory JointsFactory class helps constructing Joints object using a shorthand notation. In the robot program it can be accessed using the j[] shortcut.

Examples

Code Block
language python linenumbers false
waypoint_1 = j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74]

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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: float = Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, y: float Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, z: float Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, a: float Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, b: float Union[numbers.Number, pint.quantity.build_quantity_class.<locals>.Quantity] = 0.0, c: float = 0.0Union[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.copy__mul__ robot_command.rpl.Pose.copy

copy() -> robot_command.rpl.Pose

Creates a copy of the pose object. :return: A copy of the pose.

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robot_command.rpl.Pose.from_kdl_frame __mul__

__mul__(other: robot_command.rpl.Pose.from_kdl_frame static from_kdl_frame(frame: PyKDL.Framepose.Pose) -> robot_command.rpl.pose.Pose

Converts a Use KDL frame multiplication to apply an offset to a pose object. :param frame: KDL frame. :return:

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.from_listcopy robot_command.rpl.Pose.from_list

static from_list(pose_list: List[float]

copy

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

Creates a new copy of the pose object from a list of coordinates. :param pose_list: List of the six coordinates. :return: New pose object

Returns:

A copy of the pose.

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robot_command.rpl.Pose.from_roskdl_poseframe robot_command.rpl.Pose.from_roskdl_poseframe

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

Converts a ROS native pose KDL frame to a pose object. :param pose: The ROS stamped pose. :return:

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

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robot_command.rpl.Pose.from_ros_unitslist robot_command.rpl.Pose.from_ros_unitslist

static from_ros_unitslist(linearpose_unitlist: 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. :param linear_unit: Unit type for linear coordinates. :param angular_unit: Unit type for angular coordinates. :return: The resulting pose.

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.inversefrom_ros_pose robot_command.rpl.Pose.inverse

inverse(

from_ros_pose

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

Creates the inverse of the pose. Useful for calculating offset. :return: 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.tofrom_kdlros_frameunits robot_command.rpl.Pose.tofrom_kdlros_frameunits

tofrom_kdlros_frame() -> PyKDL.Frameunits(linear_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None, angular_unit: Optional[Union[str, pint.util.SharedRegistryObject]] = None)

Converts the pose object to a KDL frame. :return: KDL framefrom 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.to_listinverse robot_command.rpl.Pose.to_list

to_list

inverse

inverse() -> List[float]

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

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_roskdl_poseframe robot_command.rpl.Pose.to_roskdl_poseframe

to_roskdl_poseframe() -> geometry_msgs.msg._Pose.PosePyKDL.Frame

Converts the pose object to a native ROS pose. :return: ROS poseKDL frame.

Returns:

KDL frame.

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robot_command.rpl.Pose.to_ros_unitslist robot_command.rpl.Pose.to_ros_unitslist

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

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. :param linear_unit: Unit type for linear coordinates. :param angular_unit: Unit type for angular coordinates. :return: The resulting pose.

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.withto_ros_unitspose robot_command.rpl.Pose.with_units

with

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

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

:param

angular_unit

:

– Unit type for angular coordinates.

Returns:

return:

The resulting pose.

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robot_command.rpl.Pose.withoutwith_units robot_command.rpl.Pose.withoutwith_units

withoutwith_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. :param linear_unit: 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.

:param

angular_unit

:

– Unit type for angular coordinates.

Returns:

return:

The resulting pose.

Anchor
robot_command.rpl.Pose.

PoseFactory

without_units robot_command.rpl.

PoseFactory class

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.

PoseFactory

The PoseFactory class helps constructing Pose object using a shorthand notation. In the robot program it can be accessed using the p[] shortcut.

Examples

Code Block

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.PoseFactory robot_command.rpl.PoseFactory

class robot_command.rpl.PoseFactory

The PoseFactory class helps constructing Pose object using a shorthand notation. In the robot program it can be accessed using the p[] shortcut.

Examples

Code Block
language python linenumbers false
waypoint_1 = p[202.73, 750.08, 91.75, 6.63, 53.21, "table"] # captured with table work offset

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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()

Pose Arithmetic

Poses can be used as transforms using multiplication.

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

Setting and getting global waypoints from robot programs

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Setting and getting global waypoints from robot programs

Robot programs can set or get a global waypoint as part of its execution. Setting of a new global waypoint is achieved by calling robot_command.rpl.set_global_waypoint(). Getting of existing global waypoints is accomplished by calling robot_command.rpl.get_global_waypoint().

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robot_command.rpl.set_global_waypoint robot_command.rpl.set_global_waypoint

class robot_command.rpl.set_global_waypoint(name: str, value: Union[

alias of robot_command.rpl.

Pose, robot_command.rpl.Joints])

Set global waypoint pose or joints value.

Parameters:

name – Name of the global waypoint value – Pose or joints value

Examples

Code Block

language	python
linenumbers	false

set_global_waypoint("point", p[500.0, 0.0, 900.0, 0.0, -90.0, 0.0])

_create_doc_commands.<locals>.funct

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robot_command.rpl.get_global_waypoint robot_command.rpl.get_global_waypoint

class robot_command.rpl.get_global_waypoint(name: str)

Get global waypoint pose or joints value.

Parameters:	name – Name of the global waypoint.
Returns:	Pose or Joints of the global waypoint or None if it does not exist.

Examples

Code Block

language	python
linenumbers	false

point = get_global_waypoint("point")

alias of robot_command.rpl._create_doc_commands.<locals>.funct

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Movement

The robot can be moved using the following move types:

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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.MovePlanningError robot_command.rpl.MovePlanningError

exception robot_command.rpl.MovePlanningError

Exception thrown when a move command is failing due to a planning error.

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Anchor
robot_command.rpl.MoveExecutionError robot_command.rpl.MoveExecutionError

exception robot_command.rpl.MoveExecutionError

Exception thrown when a move command is failing due to an error during execution.

(message=None, error_code=None)

...

Examples

try:
    movel(waypoint)
except MovePlanningError:  # is raised in case of a planning error
    notify("Move planning failed", warning=True)

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robot_command.rpl.set_path_blending robot_command.rpl.set_path_blending

robot_command.rpl.set_path_blending(enable: bool, blend_radius: Optional[float] = None) -> None

Enables or disables path blending and sets the blend radius.

Parameters:

enable – Enable or disable path blending. blend_radius – The blend radius between moves in meters.

Examples

Code Block
language python linenumbers false
set_path_blending(True, 0.0) # enable path blending, blend radius 0.0m movej(waypoint1) movej(waypoint2) movej(waypoint3) sync() # moves executed before this command set_path_blending(False) # disable path blending again

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robot_command.rpl.change_work_offset robot_command.rpl.change_work_offset

robot_command.rpl.change_work_offset(name: Optional[str]) -> None

Change the currently active work offset. If an empty string or None is used as as the name parameter, the empty work offset world becomes active.

Parameters:

name – The name of the tool offset to activate or None to disable work offsets.

Examples

Code Block
language python linenumbers false
change_work_offset("table") change_work_offset(None) # disable any active offsets

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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.work_offset robot_command.rpl.work_offset

class robot_command.rpl.work_offset(pose: Optional[Union[robot_command.rpl.Pose, str]] =None, position: Optional[Union[robot_command.rpl.Pose, str]] =None, orientation: Optional[Union[robot_command.rpl.Pose, str]] =None, world: bool =False)

Scoped offset command. Applies a work offset temporarily on top of the currently active work offset.

The scoped offset command can be used to automatically switch the active offset back to a previous state when the scope is left. Scoped offsets can be nested. Scoped offsets are temporary and do not have a name.

Parameters:

pose – The offset pose. position – A pose from which the position is used for the offset. orientation – A pose from which the orientation is used for the offset. world – If set to True the offset is absolute.

Examples

Code Block
language python linenumbers false
with work_offset(p[0, 100, 0, 90, 20, 0]): # creates a temporary offset and activates it movel(Pose(x=10)) # move x by 10 starting from the offset # the active offset automatically reset when the scope is left

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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: 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 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

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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

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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.notify robot_command.rpl.notify

robot_command.rpl.notify(message: str, warning: bool = False, error: bool = False, image_path: str = '', timeout: Optional[float] = None) -> None

Creates a popup notification message on the robot UI.

The message argument text is shown to the user.

By default, the message is displayed as informational and thus will not block the program flow. The warning argument shows a warning message, which breaks program flow and can be declined by the operator. The error argument shows a blocking error message, which aborts the program.

The optional image_path argument can be used to display an informational image along with the message

Parameters:

message – Message text to display in the popup. warning – Set to true if this message is a warning. error – Set to true if this message is an error message. image_path – Optional path to an image file to displayed in the popup. timeout – Optional timeout in seconds.

Examples

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language python linenumbers false
notify("Hello World!") notify("No part found, check the palette.", warning=True) notify("This should not happen.", error=True, image_path="./fatal_error.png")

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robot_command.rpl.sleep robot_command.rpl.sleep

robot_command.rpl.sleep(secs: float) -> None

Parameters:

secs – sleep time in seconds

Examples

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language python linenumbers false
sleep(5.0)

The sleep command pauses the program execution for t seconds.

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robot_command.rpl.pause robot_command.rpl.pause

robot_command.rpl.pause(optional: bool = False, active: bool = False) -> None

The pause command pauses the program execution. Equivalent to M01 break.

The optional states whether the pause is optional or not. Optional pause can be enabled in the robot UI by the operator.

Parameters:

optional – If this pause is optional or not. active – When set to true, this indicates an active pause allowing to operator to jog the program.

Examples

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language python linenumbers false
pause() pause(optional=True)

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robot_command.rpl.get_param robot_command.rpl.get_param

robot_command.rpl.get_param(name: str, default: Optional[object] = None) -> object

Fetch a stored user parameter.

Parameters:	name – Parameter name. default – Default value return if the parameter is not defined.
Returns:	Returns a base Python type, construct rpl types or returns a dict if the parameter is set, else returns the default value.

Examples

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The probel command is a simple probing cycle:

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language

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Under development

python linenumbers false

wp = get_param("my_waypoint", Pose())

Probing

The probel command is a simple probing cycle:

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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

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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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Glossary of Probe Errors

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Glossary of Probe Errors

There are several probing-specific errors that are reported as python exceptions. All of them are derived from the ProbeError exception class.

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robot_command.rpl.ProbeUnexpectedContactError robot_command.rpl.ProbeUnexpectedContactError

exception robot_command.rpl.ProbeUnexpectedContactError(error_code=None)

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robot_command.rpl.ProbeContactAtStartError robot_command.rpl.ProbeContactAtStartError

exception robot_command.rpl.ProbeContactAtStartError(error_code=None)

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robot_command.rpl.ProbeFailedError robot_command.rpl.ProbeFailedError

exception robot_command.rpl.ProbeFailedError(error_code=None)

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Calibration

The robot_command.calibration module contains a few useful functions to write custom calibration programs. Note that these functions must be imported manually.

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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.rpl.ProbeUnexpectedContactErrorcalibration.calculate_work_offset_4 robot_command.rpl.ProbeUnexpectedContactError

exception

calibration.calculate_work_offset_4

robot_command.calibration.calculate_work_offset_4(origin_wp: robot_command.rpl.ProbeUnexpectedContactError

An unexpected “contact” (rising or falling edge on the probe signal) is seen during normal motion or a probe retract.

Anchor.pose.Pose, x_axis_wp: robot_command.rpl.pose.Pose, y_axis_wp: robot_command.rpl.ProbeContactAtStartError.pose.Pose, position_wp: robot_command.rpl.ProbeContactAtStartError exception .pose.Pose) -> robot_command.rpl.ProbeContactAtStartError

A motion was commanded when the probe was already in contact (applies to non-probing motions and probe modes 2 and 3)

Anchorrobot_command.rpl.ProbeFailedErrorrobot_command.rpl.ProbeFailedError exception robot_command.rpl.ProbeFailedErrorProbe signal was unchanged during a probing move, meaning the motion failed to make contact (for probe modes 2 and 4)

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.