Skip to content

Code blocks

Every block has a copy button. Line numbers, highlighted lines, titles and annotations are per block.

Title, line numbers, highlighted lines

first_move.py
1
2
3
4
5
6
7
8
from robotclient import RobotClient

robot = RobotClient()
robot.connect("192.168.0.84")
robot.enable(wait=True)
robot.home(wait=True)
robot.enter_exec_mode(wait=True)
robot.move_joints(0, -60, 60, 0, 0, 0, speed=20)

```python title="first_move.py" linenums="1" hl_lines="6 7"
from robotclient import RobotClient
...
```

Annotations (numbered markers with a popup)

robot.move_joints(0, -60, 60, 0, 0, 0, speed=20)  # (1)!
robot.wait_motion_complete()  # (2)!
  1. Degrees. speed is a percent of the velocity limit.
  2. Waits for this command, not for the whole queue; wait_idle() waits for the queue.
```python
robot.move_joints(0, -60, 60, 0, 0, 0, speed=20)  # (1)!
robot.wait_motion_complete()  # (2)!
```

1.  Degrees. `speed` is a percent of the velocity limit.
2.  Waits for *this* command, not for the whole queue.

The ! after the marker hides the comment itself; without it the # (1) stays visible.

Inline code with highlighting

Call robot.home(wait=True) before robot.enter_exec_mode(); the wire form is {"cmd": "home", "wait": true}.

Call `#!python robot.home(wait=True)` before `#!python robot.enter_exec_mode()`; the wire form is
`#!json {"cmd": "home", "wait": true}`.

Languages

one command on the wire
{"cmd": "move_joints", "args": [0, -60, 60, 0, 0, 0], "speed": 0.2}

$ cd ~/Desktop/RCB-Runtime && .venv/bin/python3 tools/first_run.py --stages 1
Stage 1: every drive answers ... PASS
robots/PAR6.xml (excerpt)
<joint id="0">
  <name>J1</name>
  <joint_velocity_limit>3.0</joint_velocity_limit>
  <software_joint_limit_negative>-2.44</software_joint_limit_negative>
</joint>
system.xml policy, as YAML for the example
drive_watchdog_ms: 100
safety_monitor:
  collision: warn

- <max_payload_kg>0.75</max_payload_kg>
+ <max_payload_kg>0.4</max_payload_kg>

plain text, no highlighting

A file embedded from disk

The block below is the file docs/includes/example.py, pulled in at build time, so the manual never drifts from the example that is actually run:

docs/includes/example.py
from robotclient import RobotClient

robot = RobotClient()
robot.connect("192.168.0.84")
robot.enable(wait=True)
robot.home(wait=True)
robot.enter_exec_mode(wait=True)
robot.move_joints(0, -60, 60, 0, 0, 0, speed=0.2)
robot.wait_motion_complete()

Source (the marker is written without the spaces: -- 8< --):

```python title="docs/includes/example.py"
-- 8< -- "example.py"
```

The same marker outside a fence embeds Markdown: the symbol definitions on every About page are one file.

Code in tabs

robot.move_linear(300, 0, 250, 180, 0, 90)

{"cmd": "move_linear", "args": [300, 0, 250, 180, 0, 90]}

move linear block with the point P1.

=== "Python"

    ```python
    robot.move_linear(300, 0, 250, 180, 0, 90)
    ```

=== "JSON over TCP"

    ```json
    {"cmd": "move_linear", "args": [300, 0, 250, 180, 0, 90]}
    ```

Found a mistake on this page? Edit it on GitHub · Report it · Get help