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Configuration

The hardware connection, the motion profile, the TCP corrections, the collision world and the status rate. Tools and the TCP and The controller in the guide.

connect_hardware

rbt.connect_hardware(port_str: str) -> int

Connect to robot hardware via serial port.

rbt.connect_hardware("/dev/ttyUSB0")
Parameter Meaning
port_str Serial port path (e.g., '/dev/ttyUSB0' or 'COM3').

Returns: 1 if acknowledged, 0 on failure.

Raises:

  • ValueError: If port_str is empty.

select_profile

rbt.select_profile(profile: str) -> int

Set the motion profile (e.g. "TOPPRA").

rbt.select_profile("TOPPRA")
Parameter Meaning
profile Motion profile type ('TOPPRA', 'RUCKIG', 'QUINTIC', 'TRAPEZOID', 'LINEAR')
Note RUCKIG is point-to-point only; Cartesian moves will use TOPPRA.

Returns: 1 once the profile is selected, 0 when no reply arrives.

Raises:

  • MotionError: when profile is not a profile name.

Note

The profiles of this version: TOPPRA, RUCKIG, QUINTIC, TRAPEZOID, LINEAR. Motion profiles says what each does.

set_tcp_offset

rbt.set_tcp_offset(x: float = 0, y: float = 0, z: float = 0) -> int

Set TCP offset in mm, composed on top of the current tool transform.

The offset shifts the effective TCP point in the tool's local frame. Subsequent motion (especially TRF relative moves) will use the new TCP. Returns the queued index; await wait_command(index) to confirm application. This translation-only setter clears user TCP rotation. Call with (0, 0, 0) to reset. Changing tools resets the offset.

rbt.set_tcp_offset(0, 0, -190)  # pencil tip 190mm from gripper

set_tcp_transform

rbt.set_tcp_transform(
    x: float = 0,
    y: float = 0,
    z: float = 0,
    roll: float = 0,
    pitch: float = 0,
    yaw: float = 0,
) -> int

No docstring.

tcp_offset

rbt.tcp_offset() -> list[float]

Query current TCP offset in mm [x, y, z].

offset = rbt.tcp_offset()

tcp_transform

rbt.tcp_transform() -> list[float]

No docstring.

Note

set_tcp_transform(x, y, z, roll, pitch, yaw): millimetres and intrinsic XYZ degrees relative to the registered tool. Both setters return a queued index; wait for it before relying on the correction. The TCP queries raise TimeoutError instead of returning a misleading zero when the controller does not answer.

set_shapes

rbt.set_shapes(shapes: list) -> int

Replace the program-layer collision-world shapes (keep-out barriers).

Collision-enabled shapes are added to the controller's checkers so motion is blocked against them; an empty list clears the program layer. Installation-layer shapes (robot config) are unaffected.

Acknowledged: returns 1 only after the controller confirms the world was applied; 0 on timeout. Raises MotionError if the controller rejects the shapes.

rbt.set_shapes([Box(name="table", x=0.6, y=0.4, z=0.02,
                    pose=(0.3, 0, -0.01, 0, 0, 0))])

Note

Shapes are the program layer of the collision world: boxes and other primitives with a pose in metres and extrinsic XYZ radians, collision-enabled or visual only, attachable to the flange as held objects. The installation layer, from the robot's configuration, is not affected.

set_status_rate

rbt.set_status_rate(hz: float) -> int

Set the rate the controller broadcasts status at.

rbt.set_status_rate(100)

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