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changes.mady.by.user Alexander (Rössler) Poss

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changes.mady.by.user Brandon Duarte

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

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

Parameters:

time – return the time unit type when set to True

Returns:

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

Examples

Code Block
languagepython
linenumbersfalse
linear, angular = get_units()
linear, angular, time = get_units(with_time=True)

...

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() -> 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]) -> 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 , | SharedRegistryObject ]]| None = 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 , | SharedRegistryObject ]]| None = None) -> 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 , | SharedRegistryObject ]]| None = None) -> 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 , | SharedRegistryObject ]]| None = None) -> 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.JointsFactory
robot_command.rpl.JointsFactory
class robot_command.rpl.JointsFactory

The JointsFactory class helps constructing Joints object using a shorthand notation. In the robot program it can be accessed using the j[] shortcut or the j() shortcut which supports keyword arguments.

Examples

Code Block
languagepython
linenumbersfalse
waypoint_1 = j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74]
Anchorrobot_command.rpl.get_joint

waypoint_2 = j(j3=0.543) # all other joint positions are 0.0 by default

...

Anchor
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
languagepython
linenumbersfalse
joint_value = get_joint_values()

...

Anchor
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 = '', conf: JointConfig | None = None, rev: Number | Quantity | None = None)

A robot pose consists of XYZ position ABC orientation parameters.

Optionally, an 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: Pose) -> Pose

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

Parameters:

other – Other pose.

Returns:

New pose object.

Code Block
languagepython
linenumbersfalse
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
Anchor
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.

Anchor
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.

Anchor
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.

Anchor
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.

Anchor
robot_command.rpl.Pose.from_ros_units
robot_command.rpl.Pose.from_ros_units
from_ros_units(linear_unit: Optional[Union[str , | SharedRegistryObject ]]| None = None, angular_unit: Optional[Union[str , | SharedRegistryObject ]]| None = 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() -> Pose

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

Returns:

New pose object.

Anchor
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.

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() -> 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 , | SharedRegistryObject ]]| None = None, angular_unit: Optional[Union[str , | SharedRegistryObject ]]| None = 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.

Anchor
robot_command.rpl.Pose.with_units
robot_command.rpl.Pose.with_units
with_units(linear_unit: Optional[Union[str , | SharedRegistryObject ]]| None = None, angular_unit: Optional[Union[str , | SharedRegistryObject ]]| None = 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 = None, angular_unit: Optional[Union[str , | SharedRegistryObject ]]| None = 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.

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 or the p() shortcut which supports keyword arguments.

Examples

Code Block
languagepython
linenumbersfalse
waypoint_1 = p[202.73, 750.08, 91.75, 6.63, 53.21, "table"]  # captured with table user frame
waypoint_2 = p(y=10.0, frame="table")  # all other coordinate values are 0.0 per default.
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
languagepython
linenumbersfalse
current_pose = get_pose()

...

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] ]| None

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 –

    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[Pose, | Joints], a: float = None, v: float = None, probe: int = 0, velocity: Optional[Union[float, Quantity]] float | Quantity | None = None, accel: Optional[Union[float , | Quantity ]]| None = None, accel_scale: float = 0.5, duration: Optional[Union[float , | Quantity ]]| None = None, strict_limits: bool = False) -> Optional[ Tuple[int, Time, Joints, Pose] ]| None

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
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])

...

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 = None, accel: Optional[Union[float , | Quantity ]]| None = None, accel_scale: float = 0.5, duration: Optional[Union[float , | Quantity ]]| None = None, strict_limits: bool = False) -> Optional[ Tuple[int, Time, Joints, Pose] ]| None

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
languagepython
linenumbersfalse
movec(waypoint_1, waypoint_2)

...

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

...

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

...

Anchor
robot_command.rpl.change_user_frame
robot_command.rpl.change_user_frame
robot_command.rpl.change_user_frame(name: Optional[str ]| None) -> 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
languagepython
linenumbersfalse
change_user_frame("table")
change_user_frame(None) # disable any active frames
Anchor
robot_command.rpl.set_user_frame
robot_command.rpl.set_user_frame
robot_command.rpl.set_user_frame(name: str, pose: Optional[Union[Pose, | str ]]| None = None, position: Optional[Union[Pose, | str ]]| None = None, orientation: Optional[Union[Pose, | str ]]| None = 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
languagepython
linenumbersfalse
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_user_frame
robot_command.rpl.get_user_frame
robot_command.rpl.get_user_frame(name: str) -> Optional[Pose] | None

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
languagepython
linenumbersfalse
pose = get_user_frame("table")
Anchor
robot_command.rpl.user_frame
robot_command.rpl.user_frame
robot_command.rpl.user_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
languagepython
linenumbersfalse
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

...

Anchor
robot_command.rpl.get_active_user_frame
robot_command.rpl.get_active_user_frame
robot_command.rpl.get_active_user_frame() -> str

Returns the name of the active user frame.

Examples

Code Block
languagepython
linenumbersfalse
active_user_frame_name = get_active_user_frame()

...

Tool Frames

Anchor
robot_command.rpl.change_tool_frame
robot_command.rpl.change_tool_frame
robot_command.rpl.change_tool_frame(name: Optional[str ]| None) -> None

Change 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:

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

Examples

Code Block
languagepython
linenumbersfalse
change_tool_frame("table")
change_tool_frame(None) # disable any active frames
Anchor
robot_command.rpl.set_tool_frame
robot_command.rpl.set_tool_frame
robot_command.rpl.set_tool_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
languagepython
linenumbersfalse
set_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 frame other_tool

...

Anchor
robot_command.rpl.get_tool_frame
robot_command.rpl.get_tool_frame
robot_command.rpl.get_tool_frame(name: str) -> Pose | None

Returns the 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
languagepython
linenumbersfalse
pose = get_tool_frame("tool1")
Anchor
robot_command.rpl.get_active_tool_frame
robot_command.rpl.get_active_tool_frame
robot_command.rpl.get_active_tool_frame(name: str) -> Optional[Pose]str

Returns the 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

active tool frame.

Examples

Code Block
languagepython
linenumbersfalse
poseactive_tool_frame_name = get_active_tool_frame("tool1")

Digital I/O

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

Anchor
robot_command.rpl.set_digital_out
robot_command.rpl.set_digital_out
robot_command.rpl.set_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

Code Block
languagepython
linenumbersfalse
set_digital_out("gripper", True)
set_digital_out(2, False)
Anchor
robot_command.rpl.get_digital_in
robot_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
languagepython
linenumbersfalse
io_state = get_digital_in("gripper")
x = get_digital_in(3)

...

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
languagepython
linenumbersfalse
set_machine_frame(p[0,0,0,90,0,0], "instance")
set_machine_frame(Pose(x=100))  # sets frame for default instance

...

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) -> 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
languagepython
linenumbersfalse
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.probel
robot_command.rpl.probel
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)

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)

...

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
languagepython
linenumbersfalse
def interrupt_handler(value):
    if value:
        exit() # exit program when digital input 1 is high

register_interrupt(InterruptSource.DigitalInput, 1, interrupt_handler)

...