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Anchor
robot_command.rpl.set_units
robot_command.rpl.set_units
robot_command.rpl.set_units(linear: Optional[Union[str, pint.util. SharedRegistryObject]] = None, angular: Optional[Union[str, pint.util., SharedRegistryObject]] = None, time: Optional[Union[str, SharedRegistryObject]] = None)

Sets the active linear, angular and angular time units for the program.

Parameters:

  • linear – Linear/length unit type: m, mm, inch

  • angular – Angular/rotation unit type: deg, rad

  • time – Time unit type: s, min, h

Examples

Code Block
languagepython
linenumbersfalse
set_units("mm", "deg", "s")
set_units(linear="in")
set_units(angular="rad")
set_units(time="s")
Anchor
robot_command.rpl.get_units
robot_command.rpl.get_units
robot_command.rpl.get_units(with_time: bool = False) -> Union[Tuple[str, str], Tuple[str, str, str]]

Returns the active linear, angular and angular time units from the program.

Parameters:

time – return the time unit type when set to True

Returns:

Linear/length unit type and , angular/rotation unit type .and time unit type

Examples

Code Block
languagepython
linenumbersfalse
linear, angular = get_units()

Waypoints

...


linear, angular, time = get_units(with_time=True)

Waypoints

Waypoints are defined either as joint configuration, as list of joint positions, or as a robot pose with location in Cartesian coordinates XYZ and orientation in Euler angles ABC. Robot poses furthermore relate to an offset from the world origin, usually located at the robot base. If no offset is active or specified with the waypoint, reference to the world origin is assumed.

...

Anchor
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
languagepython
linenumbersfalse
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
Anchor
robot_command.rpl.Joints.copy
robot_command.rpl.Joints.copy
copy() -> robot_command.rpl.Joints

Creates a copy of the joints object.

Returns:

Copy of the joints object.

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

Anchor
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.

Anchor
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.

Anchor
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

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.

Anchor
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

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.

Anchor
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

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.

...

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

Returns the current joint values.

Returns:

Current joint values.

Examples

Code Block
languagepython
linenumbersfalse
joint_value = get_joint_values()

...

Anchor
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] 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, offsetframe: str = '')

A robot pose consists of XYZ position ABC orientation parameters.

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

Examples

Code Block
languagepython
linenumbersfalse
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.
Anchor
robot_command.rpl.Pose.__mul__
robot_command.rpl.Pose.__mul__
__mul__(other: robot_command.rpl.Pose) -> robot_command.rpl.Pose

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

Parameters:

other – Other pose.

Returns:

New pose object.

Code Block
languagepython
linenumbersfalse
new_wp = waypoint_1 * Pose(x=10) * waypoint_1 # translates waypoint_1 by x=10
old_wp = new_wp * Pose(x=10).inverse() * new_wp # translates new_wp back
Anchor
robot_command.rpl.Pose.copy
robot_command.rpl.Pose.copy
copy() -> robot_command.rpl.Pose

Creates a copy of the pose object.

Returns:

A copy of the pose.

Anchor
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

Converts a KDL frame to a pose object.

Parameters:

frame – KDL frame.

Returns:

New pose object.

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

Creates a new pose object from a list of coordinates.

Parameters:

pose_list – List of the six coordinates.

Returns:

New pose object.

Anchor
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

Converts a ROS native pose to a pose object.

Parameters:

pose – The ROS stamped pose.

Returns:

New pose object.

Anchor
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.

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

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

Returns:

New pose object.

Anchor
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.

Anchor
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.

Anchor
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.

Anchor
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

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.

Anchor
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

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.

Anchor
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

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.

Anchor
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
languagepython
linenumbersfalse
waypoint_1 = p[202.73, 750.08, 91.75, 6.63, 53.21, "table"]  # captured with table workuser offsetframe
Anchor
robot_command.rpl.get_pose
robot_command.rpl.get_pose
robot_command.rpl.get_pose(apply_workuser_offsetframe: bool = True, apply_tool_offsetframe: bool = True) -> robot_command.rpl.Pose

Returns the current robot pose.

Parameters:

  • apply_workuser_offsetframe – Applies the active work offset user frame to the world pose.

  • apply_tool_offsetframe – Applies the active tool offset frame to the world pose.

Returns:

Current robot pose.

Examples

Code Block
languagepython
linenumbersfalse
current_pose = get_pose()

...

Anchor
robot_command.rpl.set_global_waypoint
robot_command.rpl.set_global_waypoint
robot_command.rpl.set_global_waypoint

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

Anchor
robot_command.rpl.get_global_waypoint
robot_command.rpl.get_global_waypoint
robot_command.rpl.get_global_waypoint

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

Movement

The robot can be moved using the following move types:

...

Anchor
robot_command.rpl.movej
robot_command.rpl.movej
robot_command.rpl.movej(target: Union[robot_command.rpl.Pose, robot_command.rpl.Joints], v: float = 1.0None, probe: int = 0, velocity_scale: float = 1.0) -> Optional[Tuple[int, rospy.rostime. Time, robot_command.rpl.Joints, robot_command.rpl.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 waypoint or joints target

  • v velocity_scale – 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

  • v –

    scale factor for velocity (default is full speed)

    Note

    Deprecated since version 3.1.1: use velocity_scale instead

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
languagepython
linenumbersfalse
movej(waypoint_1)
movej("global_waypoint_1", velocity_scale=0.6)
movej(p[0, 100, 0, 90, 20, 0])

...

Anchor
robot_command.rpl.movel
robot_command.rpl.movel
robot_command.rpl.movel(target: Union[robot_command.rpl.Pose, robot_command.rpl.Joints], a: float = 0.5None, v: float = 0.5None, probe: int = 0) -> , velocity: Optional[TupleUnion[int, rospy.rostime.Time, robot_command.rpl.Joints, robot_command.rpl.Pose]]
float, Quantity]] = None, accel: Optional[Union[float, Quantity]] = None, accel_scale: float = 0.5, duration: Optional[Union[float, Quantity]] = None, strict_limits: bool = False) -> Optional[Tuple[int, Time, Joints, 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

  • waypoint

  • 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
languagepython
linenumbersfalse
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])

movec - Circular Move

Anchorrobot_command.rpl.movecrobot_command.rpl.movec robot_command.rpl.movec(interim: Union[robot_command.rpl.Pose, robot_command.rpl.Joints], target: Union[robot_command.rpl.Pose, robot_command.rpl.Joints], a: float = 0.5, v: float = 0.5, probe: int = 0) -> Optional[Tuple[int, rospy.rostime.Time, robot_command.rpl.Joints, robot_command.rpl.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 - 1.0velocity – move velocity as absolute value, interpreted in terms of currently set machine units if quantity without units is given.

  • accel – move acceleration as absolute value, interpreted in terms of currently set machine units if quantity without units is given.

  • accel_scale – move acceleration scaling factor 0.0 - 1.0

  • duration – target move duration in seconds. If move duration based on other inputs is longer, the planned duration will be used.

  • strict_limits – Enforces strict limits. Moves violating the velocity and acceleration limits will error.

  • v –

    move velocity scaling factor 0.0 - 1.0

    Note

    Deprecated since version 3.1.1: use velocity instead

  • a –

    move acceleration scaling factor 0.0 - 1.0

    Note

    Deprecated since version 3.1.1: use accel_scale instead

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
languagepython
linenumbersfalse
movel(waypoint_1)
movel("global_waypoint_1", velocity=100)
movel(j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74])

movec - Circular Move

Anchor
robot_command.rpl.movec
robot_command.rpl.movec
robot_command.rpl.movec(interim: Union[Pose, Joints], target: Union[Pose, Joints], a: float = None, v: float = None, probe: int = 0, velocity: Optional[Union[float, Quantity]] = None, accel: Optional[Union[float, Quantity]] = None, accel_scale: float = 0.5, duration: Optional[Union[float, Quantity]] = None, strict_limits: bool = False) -> Optional[Tuple[int, Time, Joints, Pose]]

...

Free move command.

Parameters:

target – target target

...

Trajectory Execution

In same cases it is beneficial to execute a raw trajectory pre-planned in another program, for example Maya Mimic. The robot program supports loading, saving and executing such trajectories.

Anchorrobot_command.rpl.load_trajectoryrobot_command.rpl.load_trajectory robot_command.rpl.load_trajectory(file_path: str) -> trajectory_msgs.msg._JointTrajectory.JointTrajectory

Loads a raw joint trajectory from a CSV file and returns them in ROS format.

Parameters:

file_path – Path of the CSV file.

Returns:

A ROS joint trajectory.

Circular/Arc move command.

Parameters:

  • interim – interim waypoint

  • target – target waypoint

  • 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)

movef - Free-form Move

...

  • velocity – move velocity as absolute value, interpreted in terms of currently set machine units if quantity without units is given.

  • accel – move acceleration as absolute value, interpreted in terms of currently set machine units if quantity without units is given.

  • accel_scale – move acceleration scaling factor 0.0 - 1.0

  • duration – target move duration in seconds. If move duration based on other inputs is longer, the planned duration will be used.

  • strict_limits – Enforces strict limits. Moves violating the velocity and acceleration limits will error.

  • v –

    move velocity scaling factor 0.0 - 1.0

    Note

    Deprecated since version 3.1.1: use velocity instead

  • a –

    move acceleration scaling factor 0.0 - 1.0

    Note

    Deprecated since version 3.1.1: use accel_scale instead

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
languagepython
linenumbersfalse
movec(waypoint_1, waypoint_2)

movef - Free-form Move

Anchor
robot_command.rpl.save_trajectorymovef
robot_command.rpl.save_trajectorymovef
robot_command.rpl.save_trajectory(file_path: str, trajectory: trajectory_msgs.msg._JointTrajectory.JointTrajectorymovef(target: Union[Pose, Joints]) -> None

The save trajectory command saves a joint trajectory to a CSV fileFree move command.

Parameters:

  • file_path – Path of the CSV file.

    • trajectory – The joint trajectory to save

    target – target target

    ...

    Trajectory Execution

    In same cases it is beneficial to execute a raw trajectory pre-planned in another program, for example Maya Mimic. The robot program supports loading, saving and executing such trajectories.

    Anchor
    robot_command.rpl.executeload_trajectory
    robot_command.rpl.executeload_trajectory
    robot_command.rpl.executeload_trajectory(trajectory: trajectory_msgs.msg._JointTrajectory.JointTrajectory, v: float = 1.0, retime: bool = Falsefile_path: str) -> None

    The execute trajectory command executes a ROS JointTrajectory. Before running the joint trajectory, the robot moves to the start joint position using a joint move command.

    Parameters:

    • trajectory – a ROS joint trajectory

    • v – move velocity scaling factor 0.0 - 1.0

    • retime – Enable retiming the trajectory to make use of the velocity scaling.

    Examples

    Code Block
    languagepython
    linenumbersfalse
    trajectory = load_trajectory('test.csv')
execute_trajectory(trajectory)
save_trajectory('test2.csv', trajectory)

    Glossary of Move Errors

    Move commands typically fails due to two major reasons, either during planning or during execution. You can catch those errors and retry a move inside the robot program.

    ...

    Examples

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

    Path Blending

    Joint moves as well as linear and circular moves can be blended together into one continuous motion. This behavior can be enabled using the set_path_blending() method. Note that the motion will be executed before the next non-motion command. To force the execution of blended commands, use the the sync() method.

    Anchorrobot_command.rpl.set_path_blendingrobot_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
    languagepython
    linenumbersfalse
    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
    JointTrajectory

    Loads a raw joint trajectory from a CSV file and returns them in ROS format.

    Parameters:

    file_path – Path of the CSV file.

    Returns:

    A ROS joint trajectory.

    Anchor
    robot_command.rpl.syncsave_trajectory
    robot_command.rpl.syncsave_trajectory
    robot_command.rpl.sync(save_trajectory(file_path: str, trajectory: JointTrajectory) -> None

    The sync command is used in wait cycles and to force the execution of queued move commands.

    Work and Tool Offsets

    The TRPL supports an arbitrary number of named work and tool offsets. These offsets are usually defined in the robot UI, however, can also be set inside a program.

    ...

    save trajectory command saves a joint trajectory to a CSV file.

    Parameters:

    • file_path – Path of the CSV file.

    • trajectory – The joint trajectory to save.

    ...

    Parameters:name – The name of the tool offset to activate or None to disable work offsets.
    Anchor
    robot_command.rpl.change_work_offsetexecute_trajectory
    robot_command.rpl.execute_trajectory
    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.

    execute_trajectory(trajectory: JointTrajectory, v: float = None, retime: bool = False, velocity_scale: float = 1.0) -> None

    The execute trajectory command executes a ROS JointTrajectory. Before running the joint trajectory, the robot moves to the start joint position using a joint move command. :param velocity_scale: move velocity scaling factor 0.0 - 1.0 :param trajectory: a ROS joint trajectory :param retime: Enable retiming the trajectory to make use of the velocity scaling.

    Parameters:

    v –

    move velocity scaling factor 0.0 - 1.0

    Note

    Deprecated since version 3.1.1: use velocity_scale instead

    Examples

    ...

    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.

    ...

    Code Block
    languagepython
    linenumbersfalse

    ...

    change_work_offset("table")
change_work_offset(None) # disable any active offsets

    ...

    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.

    trajectory = load_trajectory('test.csv')
execute_trajectory(trajectory)
save_trajectory('test2.csv', trajectory)

    Glossary of Move Errors

    Move commands typically fails due to two major reasons, either during planning or during execution. You can catch those errors and retry a move inside the robot program.

    ...

    Anchor
    robot_command.rpl.MovePlanningError
    robot_command.rpl.MovePlanningError
    exception robot_command.rpl.MovePlanningError

    ...

    Anchor
    robot_command.rpl.MoveExecutionError
    robot_command.rpl.MoveExecutionError
    exception robot_command.rpl.MoveExecutionError(message=None, error_code=None)

    ...

    Examples

    ...

    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

    ...

    languagepython
    linenumbersfalse

    ...

    Code Block
    languagepython
    linenumbersfalse

    ...

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

    Path Blending

    Joint moves as well as linear and circular moves can be blended together into one continuous motion. This behavior can be enabled using the set_path_blending() method. Note that the motion will be executed before the next non-motion command. To force the execution of blended commands, use the the sync() method.

    Anchor
    robot_command.rpl.workset_path_offsetblending
    robot_command.rpl.workset_offset
    robot_command.rpl.work_offset(pose=None, position=None, orientation=None, world=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
    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:

    • 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 absoluteenable – Enable or disable path blending.

    • blend_radius – The blend radius between moves in meters.

    Examples

    Code Block
    languagepython
    linenumbersfalse
    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

    Tool Offsets

    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
    Anchor
    robot_command.rpl.change_tool_offsetsync
    robot_command.rpl.change_tool_offsetsync
    robot_command.rpl.change_tool_offset(name: Optional[str]sync() -> None

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

    Parameters:

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

    Examples

    Code Block
    languagepython
    linenumbersfalse
    change_tool_offset("table") change_tool_offset(None) # disable any active offsets

    The sync command is used in wait cycles and to force the execution of queued move commands.

    ...

    Work and Tool Offsets

    The TRPL supports an arbitrary number of named work and tool offsets. These offsets are usually defined in the robot UI, however, can also be set inside a program.

    Work Offsets

    ...

    Anchor
    robot_command.rpl.change_work_offset
    robot_command.rpl.change_work_offset
    robot_command.rpl.change_work_offset(*args, **kwargs) -> None

    ...

    Anchor
    robot_command.rpl.set_toolwork_offset
    robot_command.rpl.set_toolwork_offset
    robot_command.rpl.set_toolwork_offset(name: str, pose: Union[robot_command.rpl.Pose, str] = None, position: Union[robot_command.rpl.Pose, str] = None, orientation: Union[*args, **kwargs) -> None

    ...

    Code Block
    languagepython
    linenumbersfalse
    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
    Anchor
    robot_command.rpl.
    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

    get_work_offset
    robot_command.rpl.get_work_offset
    robot_command.rpl.get_work_offset(*args, **kwargs) -> Optional[Pose]

    ...

    Anchor
    robot_command.rpl.work_offset
    robot_command.rpl.work_offset
    robot_command.rpl.work_offset(*args, **kwargs)

    ...

    Tool Offsets

    ...

    Anchor
    robot_command.rpl.change_tool_offset
    robot_command.rpl.change_tool_offset
    robot_command.rpl.change_tool_offset(*args, **kwargs) -> None

    ...

    Anchor
    robot_command.rpl.getset_tool_offset
    robot_command.rpl.getset_tool_offset
    robot_command.rpl.getset_tool_offset(name: str*args, **kwargs) -> Optional[None

    ...

    Code Block
    languagepython
    linenumbersfalse
    pose =
    Anchor
    robot_command.rpl.
    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

    get_tool_offset
    robot_command.rpl.get_tool_offset
    robot_command.rpl.get_tool_offset(
    "tool1")
    *args, **kwargs) -> Optional[Pose]

    ...

    Digital I/O

    Digital input/output pins can be accessed via their name or by their number.

    ...

    Anchor
    robot_command.rpl.get_pathpilot_state
    robot_command.rpl.get_pathpilot_state
    robot_command.rpl.get_pathpilot_state(instance: str = '') -> str

    Returns the current state of a PathPilot instance. If no instance argument is given, the command is executed on the first connected PathPilot instance.

    Possible states are:

    • “disconnected” - Instance disconnected

    • “estop” - Emergency stop active

    • “running” - a program is running

    • “ready” - instance is ready to start program

    • “idle” - instance is idle, no program loaded

    Parameters:

    instance – PathPilot instance on which cycle start should be executed.

    Returns:

    The current PathPilot state.

    Examples

    Code Block
    languagepython
    linenumbersfalse
    state = get_pathpilot_instance()
while get_pathpilot_instance("left_mill") != "ready":
    sleep(0.1)
    Anchorrobot_command.rpl.set_machine_offsetrobot_command.rpl.set_machine_offset robot_command.rpl.set_machine_offset(pose: Union[robot_command.rpl.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
    languagepython
    linenumbersfalse
    set_machine_offset(p[0,0,0,90,0,0], "instance")
set_machine_offset(Pose(x=100))  # sets offset for default instance(0.1)

    ...

    Anchor
    robot_command.rpl.set_machine_offset
    robot_command.rpl.set_machine_offset
    robot_command.rpl.set_machine_offset(*args, **kwargs) -> None

    ...

    Notifications

    The TRPL supports interactive user notifications displayed in the robot UI.

    ...

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

    • check_retract_contact – Optionally check for contacts during retract move (to avoid retracting into an obstacle and breaking a probe tip)

    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
    languagepython
    linenumbersfalse
    contact_pose = probel(probe_goal_pose, a=0.5, v=0.01, v_retract=0.1, away=False, check_retract_contact=False)

    When called, probel() executes two motions:

    ...

    Anchor
    robot_command.calibration.calculate_tool_offsetframe_4
    robot_command.calibration.calculate_tool_offsetframe_4
    robot_command.calibration.calculate_tool_offsetframe_4(wp1: robot_command.rpl.Pose, wp2: robot_command.rpl.Pose, wp3: robot_command.rpl.Pose, wp4: robot_command.rpl.Pose) -> robot_command.rpl.> Pose

    Calculate the XYZ coordinates of the tool offset frame 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 frame pose containing the XYZ tool offsetframe.

    Anchor
    robot_command.calibration.calculate_workuser_offsetframe_3
    robot_command.calibration.calculate_workuser_offsetframe_3
    robot_command.calibration.calculate_workuser_offsetframe_3(origin_wp: robot_command.rpl.Pose, x_axis_wp: robot_command.rpl.Pose, y_axis_wp: robot_command.rpl.Pose) -> robot_command.rpl.Pose

    Calculates the work offset user frame 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 offsetuser frame.

    Anchor
    robot_command.calibration.calculate_workuser_offsetframe_4
    robot_command.calibration.calculate_workuser_offsetframe_4
    robot_command.calibration.calculate_workuser_offsetframe_4(origin_wp: robot_command.rpl.Pose, x_axis_wp: robot_command.rpl.Pose, y_axis_wp: robot_command.rpl.Pose, position_wp: robot_command.rpl.Pose) -> robot_command.rpl.Pose

    Calculates the work offset user frame 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 offsetuser frame.

    Returns:

    Origin waypoint of the constructed work offsetuser frame.