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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.

Contents

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  Program structure

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    Supported CommandsSpecial Python Method Names

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    Program structurePython Stubs

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  Linear and Angular Units

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  Waypoints

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    MovementGlobal and Local Waypoints

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    Work and Tool OffsetsJoints - Waypoint Defined as Joint Configuration

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    Digital I/OPose - Waypoint Defined as Pose

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    PathPilot Remote AnchorSetting and getting global waypoints from robot programs

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  Notifications

  Movement

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    Program Flowmovej - Joint Move

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    Persistent Parameter Storagemovel - Linear Move

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    Probingmovec - Circular Move

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    id14 id14

    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.

Supported Commands

• set_units()

• movel()

• movej()

• movec()

• movef()

• set_path_blending()

• get_pose()

• get_joint_values()

• get_digital_in()

• get_pathpilot_state()

• set_digital_out()

• sleep()

• pause()

• exit()

• pathpilot_mdi()

• pathpilot_cycle_start()

• notify()

• input()

• sync()

• get_global_waypoint()

• set_global_waypoint()

• 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()

• load_trajectory()

• save_trajectory()

• execute_trajectory()

Program structure

A TRPL program is a simple Python file with a single main function containing the program code. The support RPL commands are imported per default; any additional external libraries can be imported if required.

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• • movef - Free-form Move

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    Trajectory Execution

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    Glossary of Move Errors

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    Path Blending

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  User and Tool Frames

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    User Frames

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    Tool Frames

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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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    Loops

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    Conditions

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    Subprograms

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  Persistent Parameter Storage

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  Probing

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    Glossary of Probe Errors

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  Interrupts

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  Calibration

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  List of Supported and Deprecated Commands

Program structure

A TRPL program is a simple Python file with a single main function containing the program code. The support RPL commands are imported per default; any additional external libraries can be imported if required.

Note that the program interpreter only can track code execution in the main program file. Blocking commands in external libraries might, therefore, lock up the program execution

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   from robot_command.rpl import *  # import all robot commands
   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

Special Python

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Below you can find Python stub files, supported in most modern IDEs.

To use them, you need to add the from robot_command.rpl import * import at the beginning of the program. Moreover, install the robot_command-stubs package by issuing the python3 setup.py install command.

stubs.zip

Linear and Angular Units

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Method Names

The following Python method names have a special meaning in the TRPL interpreter:

• main: The robot programs main loop. Required in every program.

• on_abort: Called when the program is aborted as a result of an error or controlled exit by the operator.

• on_pause: Called when the program is paused.

The on_abort and on_pause methods are useful for disabling digital outputs or cleaning up initialized resources. If an error occurs in the on_pause method on_abort will be called as a fallback. If an error occurs in the on_abort method the program will exit instantly.

Python Stubs

Below you can find Python stub files, supported in most modern IDEs.

To use them, install the robot_command-stubs package by issuing the python3 setup.py install command.

robot_command-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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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 a frame from the world origin, usually located at the robot base. If no offset frame is active or specified with the waypoint, reference to the world origin is assumed.

Global and Local Waypoints

Global waypoints are waypoints that can be reused between programs. These waypoints are referenced by name inside the TRPL. Contrary, local waypoints are defined in the beginning of a robot program as Python variables.

Joints - Waypoint Defined as Joint Configuration

Joint positions can be defined by using the Joints object or the JointsFactory using the j[] shortcut. The values of j1 to j6 are the six joint positions of the robot arm.

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robot_command.rpl.get_joint_values robot_command.rpl.get_joint_values

robot_command.rpl.get_joint_values() -> Joints

Returns the current joint values.

Returns:

Current joint values.

Examples

Code Block
language python linenumbers false
joint_value = get_joint_values()

Pose - Waypoint Defined as Pose

Poses can be defined using the Pose object or the PoseFactory using the p[] shortcut. x, y, z are the Cartesian coordinates of the robot position. a, b, c is the orientation defined in Euler angles (static XYZ).

Optionally, poses can be defined with a reference frame defined as offset frame in the robot UI. When no offset frame is defined, it is assumed that the waypoint is defined in world coordinates.

Work offsets User frames are not enforced at runtime. You still need to use a change_workuser_offsetframe() statement before an offset frame becomes active.

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robot_command.rpl.Pose robot_command.rpl.Pose

class robot_command.rpl.Pose(x: Union[Number, Quantity] = 0.0, y: Union[Number, Quantity] = 0.0, z: Union[Number, Quantity] = 0.0, a: Union[Number, Quantity] = 0.0, b: Union[Number, Quantity] = 0.0, c: Union[Number, Quantity] = 0.0, frame: str = '')

A robot pose consists of XYZ position ABC orientation parameters.

Optionally, an frame 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: Pose) -> Pose

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

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

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

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

copy() -> 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: Frame) -> 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]) -> 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[Pose, PoseStamped]) -> 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, SharedRegistryObject]] = None, angular_unit: Optional[Union[str, 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() -> Pose

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

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() -> 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() -> 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, SharedRegistryObject]] = None, angular_unit: Optional[Union[str, SharedRegistryObject]] = None) -> 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, SharedRegistryObject]] = None, angular_unit: Optional[Union[str, SharedRegistryObject]] = None) -> 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, SharedRegistryObject]] = None, angular_unit: Optional[Union[str, SharedRegistryObject]] = None) -> 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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Anchor
robot_command.rpl.get_pose robot_command.rpl.get_pose

robot_command.rpl.get_pose(apply_user_frame: bool = True, apply_tool_frame: bool = True) -> Pose

Returns the current robot pose.

Parameters:	apply_user_frame – Applies the active user frame to the world pose. apply_tool_frame – Applies the active tool frame to the world pose.
Returns:	Current robot pose.

Examples

Code Block
language python linenumbers false
current_pose = get_pose()

Setting and getting global waypoints from robot programs

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robot_command.rpl.

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to_

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local_pose robot_command.rpl.

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to_

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anchor

local_pose

robot_command.rpl.setto_global_waypointrobot_command.rpl.set_global_waypoint robot_command.rpl.set_global_waypoint

alias of funct

Anchorrobot_command.rpl.get_global_waypointrobot_command.rpl.get_global_waypoint robot_command.rpl.get_global_waypoint

alias of funct

Movement

The robot can be moved using the following move types:

movej - Joint Move

Anchorrobot_command.rpl.movejrobot_command.rpl.movej robot_command.rpl.movej(target: Union[Pose, Joints], v: float = None, probe: int = 0, velocity_scale: float = 1.0) -> Optional[Tuple[int, Time, Joints, 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

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 –

local_pose(global_pose, apply_work_offset: bool = True, apply_tool_offset: bool = True) -> Pose

Converts a global pose to a local pose

Parameters:	global_pose – Global workspace Pose to convert to local coordinates (based on specified arguments) apply_work_offset – Applies the active work offset apply_tool_offset – Applies the active tool offset
Returns:	converted local pose

Examples

Code Block
language python linenumbers false
local_pose = to_local_pose(global_pose) work_only_pose = to_local_pose(global_pose, apply_tool_offset=False)

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().

Anchor
robot_command.rpl.set_global_waypoint robot_command.rpl.set_global_waypoint

robot_command.rpl.set_global_waypoint

alias of funct

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Anchor
robot_command.rpl.get_global_waypoint robot_command.rpl.get_global_waypoint

robot_command.rpl.get_global_waypoint

alias of funct

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Movement

The robot can be moved using the following move types:

movej - Joint Move

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Anchor
robot_command.rpl.movej robot_command.rpl.movej

robot_command.rpl.movej(target: Union[Pose, Joints], v: float = None, probe: int = 0, velocity_scale: float = 1.0) -> Optional[Tuple[int, Time, Joints, 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:	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 target – target waypoint or joints target velocity_scale – scale factor for velocity (default is full speed) note
Deprecated since version 3.1.1: use velocity_scale instead
Returns:	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
language python linenumbers false
movej(waypoint_1) movej("global_waypoint_1", velocity_scale=0.6) movej(p[0, 100, 0, 90, 20, 0])

movel - Linear Move

Anchor
robot_command.rpl.movel robot_command.rpl.movel

robot_command.rpl.movel(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]]

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 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 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: (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", 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]]

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 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
language python linenumbers false
movec(waypoint_1, waypoint_2)

movef - Free-form Move

Anchor
robot_command.rpl.movef robot_command.rpl.movef

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

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.

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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.

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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.

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Anchor
robot_command.rpl.sync robot_command.rpl.sync

robot_command.rpl.sync() -> None

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

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User and Tool

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Frames

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

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User Frames

Anchor
robot_command.rpl.change_workuser_offsetframe robot_command.rpl.change_workuser_offsetframe

robot_command.rpl.change_workuser_offset(*args, **kwargsframe(name: Optional[str]) -> None

Anchorrobot_command.rpl.set_work_offsetrobot_command.rpl.set_work_offset robot_command.rpl.set_work_offset(*args, **kwargs) -> None

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

Parameters:

name – The name of the tool frame to activate or None to disable user frames.

Examples

Code Block
language python linenumbers false
change_user_frame("table") change_user_frame(None) # disable any active frames

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Anchor
robot_command.rpl.getset_workuser_offsetframe robot_command.rpl.getset_workuser_offsetframe

robot_command.rpl.getset_workuser_offset(*args, **kwargs) -> Optional[Pose] Anchorrobot_command.rpl.work_offsetrobot_command.rpl.work_offset robot_command.rpl.work_offset(*args, **kwargs)

Tool Offsets

Anchorrobot_command.rpl.change_tool_offsetrobot_command.rpl.change_tool_offset robot_command.rpl.change_tool_offset(*args, **kwargs) -> None Anchorrobot_command.rpl.set_tool_offsetrobot_command.rpl.set_tool_offset robot_command.rpl.set_tool_offset(*args, **kwargs) -> Noneframe(name: str, pose: Optional[Union[Pose, str]] = None, position: Optional[Union[Pose, str]] = None, orientation: Optional[Union[Pose, str]] = None) -> None

Sets a user frame using a pose, position or orientation or clears an frame.

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

Parameters:

name – Name of the user frame pose – Pose to use for the user frame 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_user_frame("table", p[0, 100, 0, 0, 0, 0]) set_user_frame("frame_1", waypoint_2, orientation=Pose(a=90)) set_user_frame("frame_1") # clears frame_1

Anchor
robot_command.rpl.get_tooluser_offsetframe robot_command.rpl.get_tooluser_offsetframe

robot_command.rpl.get_tooluser_offset(*args, **kwargsframe(name: str) -> Optional[Pose]

...

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

Anchorrobot_command.rpl.set_digital_out

Returns the pose of a user frame.

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

Examples

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

code

Anchor
robot_command.rpl.user_frame robot_command.rpl.setuser_digital_outframe

robot_command.rpl.setuser_digital_out(nr_or_name: Union[int, str], state: bool) -> None

Sets a digital output pin to high or low state.

Parameters:

nr_or_name – The number or name of the digital output pin. state – Set to True or False for on and off.

Examples

frame(pose=None, position=None, orientation=None, world=False)

Scoped frame command. Applies a user frame temporarily on top of the currently active user frame.

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

Parameters:

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

Examples

Code Block
language python linenumbers false
set_digital_out("gripper", True) set_digital_out(2, False)

Anchorrobot_command.rpl.get_digital_inrobot_command.rpl.get_digital_in robot_command.rpl.get_digital_in(nr_or_name: Union[str, int]) -> bool

Returns the current digital input state.

Parameters:	nr_or_name – The number or name of the digital output pin.
Returns:	True or False for High and Low.

Examples

Code Block
language python linenumbers false
io_state = get_digital_in("gripper") x = get_digital_in(3)

PathPilot Remote

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with user_frame(p[0, 100, 0, 90, 20, 0]): # creates a temporary frame and activates it movel(Pose(x=10)) # move x by 10 starting from the frame # the active frame automatically reset when the scope is left

Tool Frames

Anchor
robot_command.rpl.pathpilotchange_cycletool_startframe robot_command.rpl.pathpilotchange_cycletool_startframe

robot_command.rpl.pathpilotchange_cycletool_startframe(instancename: Optional[str = '']) -> None

Starts a cycle on the remote PathPilot instance. If no instance argument is given, the command is executed on the first connected PathPilot instanceChange the currently active tool frame. If an empty string or None is used as the name parameter, the empty tool frame none becomes active.

Parameters:

instance – PathPilot instance on which cycle start should be executedname – The name of the tool frame to activate or None to disable tool frames.

Examples

Code Block
language python linenumbers false
pathpilotchange_cycletool_startframe("table") pathpilotchange_cycletool_start("left_mill")frame(None) # disable any active frames

Parameters:

command – MDI command to execute.

instance – PathPilot instance on which this command shall be executed

Anchor
robot_command.rpl.pathpilotset_tool_mdiframe robot_command.rpl.pathpilotset_tool_mdiframe

robot_command.rpl.pathpilotset_tool_mdi(command: str, instance: str = '') -> None

Starts an MDI command on the remote PathPilot instance. If no instance argument is given, the command is executed on the first connected PathPilot instance.

frame(name: str, pose: Union[Pose, str] = None, position: Union[Pose, str] = None, orientation: Union[Pose, str] = None) -> None

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

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

Parameters:

name – Name of the tool frame pose – Pose to use for the tool frame 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
pathpilotset_mdi("G0 X10") pathpilot_mdi("G1 Y-5 F300", "right_mill")tool_frame("some_tool", p[0, 0, 100, 0, 0, 0]) set_tool_frame("other_tool", waypoint_2, position=Pose(z=0.1)) set_tool_frame("other_tool") # clears frame other_tool

Anchor
robot_command.rpl.get_pathpilottool_stateframe robot_command.rpl.get_pathpilottool_stateframe

robot_command.rpl.get_pathpilottool_stateframe(instancename: str = '') -> strOptional[Pose]

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 Blocklanguage

pose of a tool frame.

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

Examples

Code Block
language python linenumbers false
statepose = get_pathpilot_instance() while get_pathpilot_instance("left_mill") != "ready": sleep(0.1)tool_frame("tool1")

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Digital I/O

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

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robot_command.rpl.set_machinedigital_offsetout robot_command.rpl.set_machinedigital_offsetout

robot_command.rpl.set_machinedigital_offset(*args, **kwargsout(nr_or_name: Union[int, str], state: bool) -> None

...

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

Sets a digital output pin to high or low state.

Parameters:

nr_or_name – The number or name of the digital output pin. state – Set to True or False for on and off.

Examples

Code Block
language python linenumbers false
set_digital_out("gripper", True) set_digital_out(2, False)

...

Examples

Anchor
robot_command.rpl.notifyget_digital_in robot_command.rpl.notifyget_digital_in

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.

get_digital_in(nr_or_name: Union[str, int]) -> bool

Returns the current digital input state.

Parameters:	nr_or_name – The number or name of the digital output pin.
Returns:	True or False for High and Low.

Examples

Code Block
language python linenumbers false
io_state = get_digital_in("gripper") x = get_digital_in(3)

...

PathPilot Remote

The PathPilot remote interface can be used to remotely control a PathPilot instance.

Anchor
robot_command.rpl.pathpilot_cycle_start robot_command.rpl.pathpilot_cycle_start

robot_command.rpl.pathpilot_cycle_start(instance: str = '') -> None

Starts a cycle on the remote PathPilot instance. If no instance argument is given, the command is executed on the first connected PathPilot instance.

Parameters:

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

Examples

Code Block
language python linenumbers false
pathpilot_cycle_start() pathpilot_cycle_start("left_mill")

...

Anchor
robot_command.rpl.pathpilot_mdi robot_command.rpl.pathpilot_mdi

robot_command.rpl.pathpilot_mdi(command: str, instance: str = '') -> None

Starts an MDI command on the remote PathPilot instance. If no instance argument is given, the command is executed on the first connected PathPilot instance.

Parameters:

command – MDI command to execute. instance – PathPilot instance on which this command shall be executed.

Examples

Code Block
language python linenumbers false
pathpilot_mdi("G0 X10") pathpilot_mdi("G1 Y-5 F300", "right_mill")

...

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
language python linenumbers false
state = get_pathpilot_instance() while get_pathpilot_instance("left_mill") != "ready": sleep(0.1)

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Anchor
robot_command.rpl.set_machine_frame robot_command.rpl.set_machine_frame

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

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

Parameters:

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

Examples

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

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Notifications

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

Anchor
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

Code Block
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")

...

Anchor
robot_command.rpl.input robot_command.rpl.input

robot_command.rpl.input(message: str, default: str = '', image_path: str = '') -> float

Creates a popup input dialog on the robot UI.

The message argument text is shown to the user.

The option default argument can be used to set the default input text.

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. default – The default input value. image_path – Optional path to an image file to displayed in the popup.
Returns:	User input text or None if cancelled

Examples

Code Block
language python linenumbers false
user_input = input("How many parts should be made?", default="5") n = int(user_input)

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Program Flow

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Anchor
robot_command.rpl.sleep robot_command.rpl.sleep

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

The sleep command pauses the program execution for t seconds.

Parameters:

secs – sleep time in seconds

Examples

Code Block
language python linenumbers false
sleep(5.0)

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Anchor
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

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

...

Anchor
exit exit

exit()

The Python builtin exit command instantly aborts the program execution.

Examples

Code Block
language python linenumbers false
exit()

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Loops

The TRPL supports all Python statements, including loops.

Examples

# move through 4 points
for i range(5):
    movel(Pose(x=i*0.1))
# wait for a condition
while get_digital_in("start") == False:
    sync()

Conditions

Similarly, conditions are also supported.

Examples

if get_pathpilot_state() != "ready":
    notify("PathPilot is not ready", warning=True)

Subprograms

The TRPL supports subprograms / reusable Python functions.

Examples

def subprogram():
    movel(p[0, 100, 0, 0, 0, 0])

def main():
    subprogram()

Persistent Parameter Storage

The TRPL supports storing and retrieving Python objects to the persistent parameter store. This is useful if you want to store data between program runs.

Anchor
robot_command.rpl.set_param robot_command.rpl.set_param

robot_command.rpl.set_param(name: str, value: object) -> None

Sets a user parameter to a the defined value.

Parameters:

name – Parameter name. value – Value to store.

Code Block
language python linenumbers false
notifyset_param("Hello World!") notify("No part found, check the palette.", warning=True) notify("This should not happen.", error=True, image_path="./fatal_error.png"my_waypoint", waypoint1)

Anchor
robot_command.rpl.inputget_param robot_command.rpl.inputget_param

robot_command.rpl.inputget_param(messagename: str, default: str = '', image_path: str = '' object = None) -> floatobject

Creates a popup input dialog on the robot UI.

The message argument text is shown to the user.

The option default argument can be used to set the default input text.

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. default – The default input value. image_path – Optional path to an image file to displayed in the popup.
Returns:	User input text or None if cancelled

ExamplesFetch 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

Code Block
language python linenumbers false
wp = get_param("my_waypoint", Pose())

...

Anchor
robot_command.rpl.delete_param robot_command.rpl.delete_param

robot_command.rpl.delete_param(name: str) -> None

Removes a user parameter

Parameters:

name – Parameter name to delete

Code Block
language python linenumbers false
user_input = input("How many parts should be made?", default="5") n = int(user_input)

...

delete_param("my_waypoint")

Probing

The probel command is a simple probing cycle:

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Anchor
robot_command.rpl.sleepprobel robot_command.rpl.sleepprobel

robot_command.rpl.sleep(secs: float) -> None Anchorrobot_command.rpl.pauserobot_command.rpl.pause robot_command.rpl.pause(optionalprobel(target: Union[Pose, Joints, str], a: float = 0.5, v: float = 0.1, v_retract: float = 0.1, away: bool = False, activecheck_retract_contact: 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

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

Anchorexitexit exit()

The Python builtin exit command instantly aborts the program execution.

Examples

Code Block
language python linenumbers false
exit()

Loops

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
language python linenumbers false

...

contact_pose

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Conditions

Similarly, conditions are also supported.

Examples

= 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:

movel() towards a target position at specified accelerations scale a (default 0.5), and velocity scale v (default 0.01), stopping when the probe makes contact.

movel() to retract to the original position (at velocity v_retract, default 0.1)

It’s also possible to create custom probing cycles by adding a “probe” keyword to any of the following move commands:

• movej()

• movel()

• movec()

For example, a linear move that expects probe contact would look like this:

if get_pathpilot_state() != "ready":
    notify("PathPilot is not ready", warning=True)

Subprograms

The TRPL supports subprograms / reusable Python functions.

Examples

def subprogram():
    movel(p[0, 100, 0, 0, 0, 0])

def main():
    subprogram()

Persistent Parameter Storage

The TRPL supports storing and retrieving Python objects to the persistent parameter store. This is useful if you want to store data between program runs.

...

Sets a user parameter to a the defined value.

...

...

contact_type, contact_time, contact_joint_positions, contact_pose = movel(probe_goal_pose, probe=2)

The numerical value of the “probe” argument has the following meaning:

probe=2 means look for contact (rising edge), or raise a ProbeFailedError if it reaches the end without making contact, or if the probe is active at the start of the move.

probe=3 is like (2), but reaching the end of the motion is not an error.

probe=4 means look for the probe to break contact (falling edge). It raises a ProbeFailedError if it reaches the end without breaking contact, or if the probe is not active at the start.

probe=5 is like (4), but reaching the end of the motion is not an error.

probe=6 is for retraction. The motion will execute normally with the probe on or off, but if the probe signal gets a rising edge (i.e. retracting from a surface too far and hitting another surface), then it will raise a ProbeUnexpectedContactError

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.

Anchor
robot_command.rpl.get_paramProbeUnexpectedContactError robot_command.rpl.get_paramProbeUnexpectedContactError

exception robot_command.rpl.get_param(name: str, default: object ProbeUnexpectedContactError(error_code=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

Code Block
language python linenumbers false
wp = get_param("my_waypoint", Pose())

Probing

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Anchor
robot_command.rpl.ProbeContactAtStartError robot_command.rpl.ProbeContactAtStartError

exception robot_command.rpl.ProbeContactAtStartError(error_code=None)

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Anchor
robot_command.rpl.ProbeFailedError robot_command.rpl.ProbeFailedError

exception robot_command.rpl.ProbeFailedError(error_code=None)

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Interrupts

The TRPL supports interrupts from external sources. This is useful for example to abort a program when a button connected to a digital input pin is pressed or to react to a message received from a ROS topic.

Anchor
robot_command.rpl.probelInterruptSource robot_command.rpl.probelInterruptSource

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

Infoassumes 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

InterruptSource(value)

Interrupt source type.

DigitalInput: React to a change on a digital input pin.

UserIo: React to a change on a user IO pin. (triggered by HAL)

Program: React to a program interrupt. (e.g. a ROS topic)

...

Anchor
robot_command.rpl.register_interrupt robot_command.rpl.register_interrupt

robot_command.rpl.register_interrupt(source: InterruptSource, nr_or_name: Union[int, str], fct: Callable) -> None

Registers a interrupt function to an interrupt source.

Parameters:

source – The interrupt source type. nr_or_name – Number or name of the interrupt source, e.g. 1 for Digital Input 1. fct – The function which should be called when the interrupt is triggered, if None is passed, this unregisters and disables the interrupt.

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, check_retract_contact=False)

When called, probel() executes two motions:

movel() towards a target position at specified accelerations scale a (default 0.5), and velocity scale v (default 0.01), stopping when the probe makes contact.

movel() to retract to the original position (at velocity v_retract, default 0.1)

It’s also possible to create custom probing cycles by adding a “probe” keyword to any of the following move commands:

• movej()

• movel()

• movec()

...

def interrupt_handler(value): if value: exit() # exit program when digital input 1 is high register_interrupt(InterruptSource.DigitalInput, 1, interrupt_handler)

Anchor
robot_command.rpl.trigger_interrupt robot_command.rpl.trigger_interrupt

robot_command.rpl.trigger_interrupt(nr: int, value: Any) -> None

Triggers a program interrupt.

Parameters:

nr – Program interrupt number which should be triggered. value – Value which is passed along with the triggered interrupt.

Examples

Code Block
language python linenumbers false

...

trigger_

...

The numerical value of the “probe” argument has the following meaning:

probe=2 means look for contact (rising edge), or raise a ProbeFailedError if it reaches the end without making contact, or if the probe is active at the start of the move.

probe=3 is like (2), but reaching the end of the motion is not an error.

probe=4 means look for the probe to break contact (falling edge). It raises a ProbeFailedError if it reaches the end without breaking contact, or if the probe is not active at the start.

probe=5 is like (4), but reaching the end of the motion is not an error.

probe=6 is for retraction. The motion will execute normally with the probe on or off, but if the probe signal gets a rising edge (i.e. retracting from a surface too far and hitting another surface), then it will raise a ProbeUnexpectedContactError

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.

...

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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Anchorrobot_command.calibration.calculate_tool_frame_4robot_command.calibration.calculate_tool_frame_4 robot_command.calibration.calculate_tool_frame_4(wp1: Pose, wp2: Pose, wp3: Pose, wp4: Pose) -> Pose

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

Anchorrobot_command.calibration.calculate_user_frame_3robot_command.calibration.calculate_user_frame_3 robot_command.calibration.calculate_user_frame_3(origin_wp: Pose, x_axis_wp: Pose, y_axis_wp: Pose) -> Pose

Calculates the 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 user frame.

Anchorrobot_command.calibration.calculate_user_frame_4robot_command.calibration.calculate_user_frame_4 robot_command.calibration.calculate_user_frame_4(origin_wp: Pose, x_axis_wp: Pose, y_axis_wp: Pose, position_wp: Pose) -> Pose

Calculates the 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 user frame.

Returns:Origin waypoint of the constructed user frame.

interrupt(2, 342.34)

Calibration

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

Anchor
robot_command.calibration.calculate_tool_frame_4 robot_command.calibration.calculate_tool_frame_4

robot_command.calibration.calculate_tool_frame_4(wp1: Pose, wp2: Pose, wp3: Pose, wp4: Pose) -> Pose

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

...

Anchor
robot_command.calibration.calculate_user_frame_3 robot_command.calibration.calculate_user_frame_3

robot_command.calibration.calculate_user_frame_3(origin_wp: Pose, x_axis_wp: Pose, y_axis_wp: Pose) -> Pose

Calculates the 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 user frame.

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Anchor
robot_command.calibration.calculate_user_frame_4 robot_command.calibration.calculate_user_frame_4

robot_command.calibration.calculate_user_frame_4(origin_wp: Pose, x_axis_wp: Pose, y_axis_wp: Pose, position_wp: Pose) -> Pose

Calculates the 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 user frame.
Returns:	Origin waypoint of the constructed user frame.

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List of Supported and Deprecated Commands

• set_units()

• movel()

• movej()

• movec()

• movef()

• set_path_blending()

• get_pose()

• get_joint_values()

• get_digital_in()

• get_pathpilot_state()

• set_digital_out()

• sleep()

• pause()

• exit()

• pathpilot_mdi()

• pathpilot_cycle_start()

• notify()

• input()

• sync()

• get_global_waypoint()

• set_global_waypoint()

• get_param()

• set_param()

• get_pathpilot_state()

• get_units()

• load_trajectory()

• save_trajectory()

• execute_trajectory()

• to_local_pose()

• change_user_frame()

• set_user_frame()

• get_user_frame()

• user_frame()

• change_tool_frame()

• set_tool_frame()

• get_tool_frame()

• set_machine_frame()

• register_interrupt()

• trigger_interrupt()

• delete_param()

• probel()

• set_work_offset()

• set_tool_offset()

• get_work_offset()

• get_tool_offset()

• change_work_offset()

• change_tool_offset()

• set_machine_offset()

• work_offset()