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Synchronization

Waiting for the controller, for a command, for a checkpoint or for the arm to come to rest; and the two queued markers, delays and checkpoints. Status and waiting in the guide says what "done" means.

wait_ready

rbt.wait_ready(timeout: float = 5.0, interval: float = 0.05) -> bool

Poll ping() until server responds or timeout.

Parameter Meaning
timeout Maximum time to wait for server to respond
interval Polling interval between ping attempts

Returns: True if server responded to PING, False on timeout

wait_command

rbt.wait_command(command_index: int, timeout: float = 10.0) -> bool

Wait until a specific command index has been completed.

Queries exact success in the controller's last 1024 completions: a later command that finishes first — a jog, a tool.stop() — does not complete an unfinished one queued before it. Queued commands, tool actions among them, run in index order, so a wait on one covers everything queued ahead of it. Unknown or expired results are never inferred successful from the status high-water mark. A command that ended as a failure — cancelled by stop()/estop() (MOTN_CANCELLED) or failed by the pipeline — raises MotionError.

Parameter Meaning
command_index The command index to wait for (returned by motion commands).
timeout Maximum time to wait in seconds.

Returns: True if the command completed within timeout, False otherwise.

Raises:

  • MotionError: If the pipeline errored at or before command_index.

wait_motion

rbt.wait_motion(
    timeout: float = 10.0,
    settle_window: float = 0.25,
    speed_threshold: float = 0.5,
    angle_threshold: float = 0.5,
) -> bool

Wait until the queue has run out and the arm has come to rest.

First waits for the latest command the controller has accepted — every command this client queued, and each newer one the status stream reports accepted — to end, then for the arm to hold still for settle_window. A command that failed or was cancelled ends the wait like one that completed; wait_command() tells which.

rbt.wait_motion()
Parameter Meaning
timeout Maximum time to wait in seconds
settle_window How long robot must be stable to be considered stopped
speed_threshold Max joint speed to be considered stopped (deg/s)
angle_threshold Max angle change to be considered stopped (degrees)

Returns: True if robot stopped, False if timeout

Raises:

  • ConnectionError: If the controller session changes while a command is still being waited on.

wait_status

rbt.wait_status(predicate: Callable[[StatusBuffer], bool], timeout: float = 5.0) -> bool

Wait until a multicast status satisfies predicate(status) within timeout.

checkpoint

rbt.checkpoint(label: str) -> int

Insert a checkpoint marker in the motion queue.

Returns the command index (≥ 0) on success, -1 on failure.

rbt.checkpoint("pick_done")
Parameter Meaning
label Checkpoint label for progress tracking

wait_checkpoint

rbt.wait_checkpoint(label: str, timeout: float = 30.0) -> bool

Wait until a checkpoint with the given label has been reached.

rbt.wait_checkpoint("pick_done")
Parameter Meaning
label Checkpoint label to wait for
timeout Maximum wait time in seconds

delay

rbt.delay(seconds: float) -> int

Insert a non-blocking delay in the motion queue.

Returns the command index (≥ 0) on success, -1 on failure.

rbt.delay(1.0)

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