move_joints¶

Queued EXEC mode Enabled Homed Takes control

Move every joint to a target angle, in joint space. All joints start and arrive together, so the tool's path is not a straight line. Use move_linear() for a straight line.

The robot needs no inverse kinematics along the way, so a joint move also passes through singular poses, where a straight-line move can fail.

Syntax¶

robot.move_joints(*angles_deg, timeout=120.0, **options)

Arguments¶

Name	Type	Default	Description
`*angles_deg`	`float`	required	The target angle of each joint, J1 first, in degrees. Each must lie within its joint's limits, or the move is refused before anything moves. A single list or tuple of the angles works too.
`timeout`	`float`	`120.0`	Seconds to wait for the move to finish, in sync mode only.
`**options`	`Any`	each setting's own	Settings for this move only. Each one you leave out takes its default: `speed` = 100 % `accel` = 100 % `duration` = none (the speed decides) `profile` = "ruckig" `jerk` = 100 % `ramp_fraction` = 0.25 `blend` = 0 `blend_mode` = "exact_velocity" `blend_continuity` = "c1" `ik_solver` = "pinocchio" `singularity_strategy` = "stop" `samples` = automatic `dry_run` = False `ik_solver`, `singularity_strategy` and `samples` have no effect on a joint move.

Figure 1 The same start and end poses. A joint move's tool path curves; a straight-line move's path does not.

Returns¶

str

The command id. The call returns once the robot has accepted the move; call wait_idle() to wait until it has finished. In sync mode the call returns when the move has finished.

Examples¶

robot.move_joints(90, -105, 165, 0, -30, 180)
robot.move_joints([90, -105, 165, 0, -30, 180], speed=0.2)
robot.wait_idle()

Usage restrictions 19 codes

This command is added to the robot's motion queue. The robot accepts it only when it is ready for motion (EXEC mode, enabled and homed), from the client that holds control or when no client does. Otherwise, the robot refuses it with one of:

[6010] Command not allowed now — the message names the mode or state it needs
[6101] Control held by another client — another client holds control; the message names it
[5002] Program aborted — an earlier move failed; clear errors first
[6004] Invalid motion options — a setting is unknown, out of range, or refused for a single move
[6011] Motion queue full

Once accepted, the move can still fail before it starts:

[5006] Move outside the joint limits — a target angle is outside its joint's limits
[5007] Move into a safety zone — the path would enter a safety zone
[5008] Zone check unavailable — safety zones are active, but the robot model to check them is missing
[1401] Self-collision — the path would bring two parts of the arm too close
[5010] Requested duration too short — duration is shorter than the limits allow
[5011] Invalid duration — duration is not more than 0 seconds
[5201] TOPPRA profile unavailable — profile="toppra", but that planner is missing
[5202] TOPPRA found no solution — profile="toppra" found no timing within the limits
[5009] Planned acceleration over its limit — the planned motion would exceed an acceleration limit
[5001] Trajectory planning failed
[3201] Trajectory not taken by RTI

A move that has started can end early with:

[5003] Command cancelled — an earlier move failed, or the robot left EXEC mode
[5004] Command stopped — stop() was called
[5005] Move did not settle — only with set_completion_policy("strict")

In Python, a refusal raises CommandRejected; its number is the code above. A failure after the robot accepted the move is raised by wait_idle() as MotionFailed, or by this call itself in sync mode as CommandRejected. No answer raises RobotTimeout; no connection, RobotConnectionError.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "move_joints", "args": [90.0, -105.0, 165.0, 0.0, -30.0, 180.0]}