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Control

Commands that change what the controller is doing: stops, the protective stop and its reset, pause and execution speed, simulator mode, teleport, and the state reset. They are system commands: immediate, not queued, and accepted also while the controller is disabled, except teleport, which is refused then. Control ownership.

stop

rbt.stop() -> int

Stop all motion — cancel the active move and clear the queue.

The controller stays enabled and holding position; the next motion command is accepted immediately.

rbt.stop()

Returns: 1 if acknowledged, 0 on failure.

estop

rbt.estop() -> int

Protective stop: stop all motion and latch the controller disabled until reset().

rbt.estop()

Returns: 1 if acknowledged, 0 on failure.

reset

rbt.reset() -> int

Clear a latched protective stop, re-enabling motion.

rbt.reset()

Returns: 1 if acknowledged, 0 on failure.

reset_state

rbt.reset_state() -> int

Reset program state — world shapes, tool selection, errors, pause, motion profile and execution speed — and discard the queue, each discarded command failing with MOTN_CANCELLED.

The arm holds where it is. A protective stop stays latched (only reset() clears it), and homed state, digital outputs and the serial connection are kept.

rbt.reset_state()

pause

rbt.pause(*, timeout: float = 3.0) -> int

Request a controlled hold, retaining queued trajectory progress.

A confirmed request returns 1. Read execution_speed().paused to confirm the hold. Standalone Python completion timeouts continue.

rbt.pause()

resume

rbt.resume(*, timeout: float = 3.0) -> int

Resume the retained queue at its selected positive speed.

rbt.resume()

set_execution_speed

rbt.set_execution_speed(scale: float, *, timeout: float = 3.0) -> int

Select 10–100% of planned queued-motion speed, preserving pause.

rbt.set_execution_speed(0.5)

simulator

rbt.simulator(enabled: bool) -> int

Enable or disable simulator mode.

rbt.simulator(True)

teleport

rbt.teleport(angles_deg: list[float], tool_positions: list[float] | None = None) -> int

Instantly set joint angles and optional tool positions (simulator only).

The pose is exact, so the arm counts as homed afterwards and planned motion may follow. Whatever was driving the arm is cancelled with MOTN_CANCELLED.

rbt.teleport([90, -90, 180, 0, 0, 180])
rbt.teleport([90, -90, 180, 0, 0, 180], tool_positions=[1.0])

Returns: 1 once the pose is applied, 0 when no reply arrives.

Raises:

  • ValueError: for a non-finite angle, one outside the hard joint limits, or a tool position outside [0, 1].
  • MotionError: off the simulator (SYS_NOT_SIMULATOR), when the tool positions do not match the fitted tool's DOF count, or while the controller is disabled.

run_skill

rbt.run_skill(invoke: Callable[[AsyncRobotClient], Coroutine[Any, Any, T]]) -> T

Execute a Python skill using this connection and its existing loop.

Note

Skills are decorated Python functions from the waldoctl skill runtime, run on the connected client; Waldo Commander uses them. A plain script does not need them.

close

rbt.close() -> None

Release UDP transport and background tasks.

Safe to call multiple times.

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