PAROL6 Programming Guide¶
This guide is for everyone who makes PAROL6 do something: from a first RBTscript program in the commander software to a Python application on the API, a ROS 2 pipeline, or a program that an AI agent writes. It starts with the interfaces and how to choose, walks through the Python API and the commander software, and ends with ROS 2 and the other interfaces. The ideas the software is built on, the units, the frames, the kinematics, the configurations, the motion profiles, are in the Theory corner, a tab of their own. The API reference is where every method and command is listed, read from the API's source at the version named above.
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Start here
The interfaces at a glance: which program for which job, and what they have in common.
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Theory corner
Units, joints and poses, frames, kinematics, singularities, motion profiles, blending, control ownership, and more.
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The Python API
Installation, the controller, clients, motion, jogging and servoing, tools, status, errors, examples.
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RBTscript
RBTscript, the commander software's program language, and examples; the commander itself is in the GUI Guide.
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ROS 2 and others
ROS 2 and MoveIt, other interfaces: the serial protocol directly, the legacy API, AI agents.
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API reference
Every Python method, RBTscript, the serial protocol, firmware parameters.
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