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Robotics Blocks and Sandbox Functions

"Robotics" section in the Blockly toolbox. Provides blocks and functions to query and command robots. These functions and blocks are provided by the pyri-robotics package.

robot_movej

robot_movej(joint_pos_degree, speed_perc, wait)

Move a robot in joint space with the specified speed percentage. A trapezoidal trajectory will be used for the move. If wait is True, the function will block until the robot has stopped. If it is False, the function will return immediately. Use time_wait_for_completion() or time_wait_for_completion_all() to synchronize completion of the operation.

Parameters:

  • joint_pos_degree (array): The desired joint position in degrees
  • speed_perc (float): The move speed percentage, must be between 1 and 100
  • wait (bool): True to block until completion, False to return immediately

robot_movel

robot_movel(target_pose, speed_perc, frame, wait)

Move a robot in a strait line in cartesian space with the specified speed percentage. A trapezoidal trajectory will be used for the move. If wait is True, the function will block until the robot has stopped. If it is False, the function will return immediately. Use time_wait_for_completion() or time_wait_for_completion_all() to synchronize completion of the operation.

Parameters:

  • target_pose (Pose): The desired robot flange pose in the specified frame
  • speed_perc (float): The move speed percentage, must be between 1 and 100
  • frame (str): The frame to use for target_pose. Must be robot or world.
  • wait (bool): True to block until completion, False to return immediately

robot_move_joint_trajectory

robot_move_joint_trajectory(joint_trajectory, speed_perc, wait)

Execute a previously planned trajectory. This is typically returned by a planner routine, or other advanced function.

Parameters:

  • joint_pos_degree (array): The desired joint position in degrees
  • speed_perc (float): The move speed percentage, must be between 1 and 100
  • wait (bool): True to block until completion, False to return immediately

robot_get_end_pose

robot_get_end_pose(frame)

Returns the end pose of a robot. This end pose is reported by the robot driver. It is typically defined as the flange of the robot, but may be the tool if the driver is configured to report the tool pose.

Parameters:

  • frame (str): The frame to return the pose in. May be robot or world.

Return (Pose): The robot end pose in the requested frame

robot_get_joint_position

robot_get_joint_position()

Returns the joint position of the active robot, in degrees.

Return (array): The joint position in degrees

robot_tool_gripper

robot_tool_gripper(state)

Opens or closes the tool.

Parameters:

state (int): 1 to open, 0 to close

robot_planar_grab

robot_planar_grab(object_pose, grab_reference_pose, z_offset_before, z_offset_grab, speed_perc, wait)

Execute a planar grab operation. The planar grab operation is useful to grab an object off a flat surface, such as a table. It is assumed that the world origin is configured to be on the surface of the table, and that the XY plane is flat on the surface. A "reference pose" of joint angles is trained for the grab. This function will translate the this reference pose to the specified X, Y, and Yaw position of the object as specified in object_pose (all other components are ignored).

This function will move the tool above the object to z_offset_before, lower the tool to z_offset_grab, close the tool, and raise the gripper to z_offset_grab. z_offset_before and z_offset_grab are in meters, relative to the reference pose.

If wait is True, the function will block until the robot has stopped. If it is False, the function will return immediately. Use time_wait_for_completion() or time_wait_for_completion_all() to synchronize completion of the operation.

Parameters:

  • object_pose (Pose): The pose of the object to grab. This pose must be flat on the table
  • grab_reference_pose (array): A reference pose joint array, in degrees
  • z_offset_before (float): Z offset before grab, in meters, relative to reference pose
  • z_offset_grab (float): Z offset of grab, in meters, relative to reference pose
  • speed_perc (float): The move speed percentage, must be between 1 and 100
  • wait (bool): True to block until completion, False to return immediately

robot_planar_place

robot_planar_place(target_pose, place_reference_pose, z_offset_before, z_offset_place, speed_perc, wait)

Execute a planar place operation. The planar place operation is used to place an object on a flat surface, such as a table. It is assumed that the world origin is configured to be on the surface of the table, and that the XY plane is flat on the surface. A "place reference pose" of joint angles is trained for the place. This function will translate the this reference pose to the specified X, Y, and Yaw position of the object as specified in target_pose (all other components are ignored).

This function will move the tool above the target pose to z_offset_before, lower the tool to z_offset_place, open the tool, and raise the gripper to z_offset_place. z_offset_before and z_offset_place are in meters, relative to the reference pose.

If wait is True, the function will block until the robot has stopped. If it is False, the function will return immediately. Use time_wait_for_completion() or time_wait_for_completion_all() to synchronize completion of the operation.

This function is normally used to place on object grabbed using robot_planar_grab().

Parameters:

  • target_pose (Pose): The pose of the target object position. This pose must be flat on the table
  • place_reference_pose (array): A reference pose joint array, in degrees
  • z_offset_before (float): Z offset before place, in meters, relative to reference pose
  • z_offset_place (float): Z offset of place, in meters, relative to reference pose
  • speed_perc (float): The move speed percentage, must be between 1 and 100
  • wait (bool): True to block until completion, False to return immediately

robot_set_active_robot

robot_set_active_robot(robot_name)

Set the active robot. All robot functions will act on this robot. This has not effect on robots that are executing an asynchronous operation. The default robot device name is robot.

Parameters:

  • robot_name (str): The robot name

robot_set_origin_calibration

robot_set_origin_calibration(calibration_name)

Sets the active robot calibration. Robot calibration is normally a NamedPose or NamedPoseWithCovariance variable saved in the global variable table. This calibration can be created using the vision package calibration utilities, or by creating a new NamedPose in the global variable table manually. The default calibration name is robot_origin_calibration.

Parameters:

  • calibration_name (str): The name of the global variable containing the calibration pose

robot_set_active_tool

robot_set_active_tool(tool_name)

Set the active tool. All tool related functions will act on this tool. This has not effect on tools that are executing an asynchronous operation. The default tool device name is tool.

Parameters:

  • tool_name (str): The tool name