Python API reference¶
The public methods of RobotClient (the sync client; the async client has the same methods, awaited, plus the
two status streams), generated from the API's source at v0.9.1. rbt in the signatures is a
client, rbt = RobotClient().
The conventions, once: angles in degrees in order J1 to J6, poses as [x, y, z, rx, ry, rz] in millimetres and
degrees, speed and accel as fractions in (0, 1], duration in seconds, r a blend radius in millimetres,
joints indexed from 0 in jog calls. A motion call returns the command index (≥ 0), or −1 if no acknowledgement arrived; a
query returns None on a timeout; a refused or failed command raises MotionError (Errors).
| Method | Category | Documented on |
|---|---|---|
connect_hardware |
Configuration | configuration |
select_profile |
Configuration | configuration |
select_tool |
Configuration | tools |
set_shapes |
Configuration | configuration |
set_status_rate |
Configuration | configuration |
set_tcp_offset |
Configuration | configuration |
tcp_offset |
Configuration | configuration |
estop |
Control | control |
pause |
Control | control |
reset |
Control | control |
reset_state |
Control | control |
resume |
Control | control |
set_execution_speed |
Control | control |
simulator |
Control | control |
stop |
Control | control |
teleport |
Control | control |
tool_action |
I/O | tools |
write_io |
I/O | io |
jog_j |
Jog | streaming |
jog_l |
Jog | streaming |
home |
Motion | motion |
move_c |
Motion | motion |
move_j |
Motion | motion |
move_l |
Motion | motion |
move_p |
Motion | motion |
move_s |
Motion | motion |
close |
Other | control |
run_skill |
Other | control |
set_tcp_transform |
Other | configuration |
stream_status |
Other | streaming |
stream_status_shared |
Other | streaming |
tcp_transform |
Other | configuration |
wait_command |
Other | synchronization |
wait_ready |
Other | synchronization |
wait_status |
Other | synchronization |
host |
Property | queries |
port |
Property | queries |
robot |
Property | queries |
tool |
Property | queries |
activity |
Query | queries |
angles |
Query | queries |
error |
Query | queries |
execution_speed |
Query | queries |
io |
Query | queries |
is_estop_pressed |
Query | queries |
is_robot_stopped |
Query | queries |
is_simulator |
Query | queries |
joint_speeds |
Query | queries |
loop_stats |
Query | queries |
ping |
Query | queries |
pose |
Query | queries |
profile |
Query | queries |
queue |
Query | queries |
reachable |
Query | queries |
reset_loop_stats |
Query | queries |
shapes |
Query | queries |
status |
Query | queries |
status_rate |
Query | queries |
tcp_speed |
Query | queries |
tools |
Query | queries |
servo_j |
Streaming | streaming |
servo_l |
Streaming | streaming |
checkpoint |
Synchronization | synchronization |
delay |
Synchronization | synchronization |
wait_checkpoint |
Synchronization | synchronization |
wait_motion |
Synchronization | synchronization |
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