Interface IItem

Adds a curve provided point coordinates. The provided points must be a list of vertices. A vertex normal can be provided optionally.

Add a custom instruction. This instruction will execute a Python file or an executable file.

Adds a new robot move joint instruction to a program. Obsolete. Use MoveJ instead.

Adds a new robot move linear instruction to a program. Obsolete. Use MoveL instead.

Adds an empty tool to the robot provided the tool pose (4x4 Matrix) and the tool name.

Attach the closest object to the tool. Returns the item that was attached. Use item.Valid() to check if an object was attached to the tool.

Checks if a robot or program is currently running (busy or moving)

Returns a list of the item childs that are attached to the provided item.

Make a copy of the item with a new roboDK link.

Connect to a real robot using the robot driver.

Check connection status with a real robot.

Returns the robot connection parameters.

Connect to a real robot and wait for a connection to succeed.

Deletes an item and its childs from the station.

Detaches any object attached to a tool.

Detach the closest object attached to the tool (see also: setParentStatic).

Disconnect from a real robot (when the robot driver is used)

Compare this item with other item. Return true if they are the same; False otherwise.

Disconnect from the RoboDK API. This flushes any pending program generation.

Returns the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.

Return the color of an Item (object, tool or robot). If the item has multiple colors it returns the first color available). A color is in the format COLOR = [R, G, B,(A = 1)] where all values range from 0 to 1.

Returns the program instruction at position id

Returns a list of joints. Linear moves are rounded according to the smoothing parameter set inside the program.

检索当前项标志。项flags allow defining how much access the user has to item-specific features.

Returns the type of an item (robot, object, target, reference frame, ...)

Returns an item pointer (Item class) to a robot, object, tool or program. This is useful to retrieve the relationship between programs, robots, tools and other specific projects.

Get a custom data parameter. Some items can hold custom data parameters.

Retrieves the point under the mouse cursor, a curve or the 3D points of an object. The points are provided in [XYZijk] format in relative coordinates. The XYZ are the local point coordinate and ijk is the normal of the surface.

Get RoboDK low level link interface.

Obsolete: Use PoseTool() instead. Returns the tool pose of an item. If a robot is provided it will get the tool pose of the active tool held by the robot.

Returns the number of instructions of a program.

Returns the list of program instructions as an MxN matrix, where N is the number of instructions and M equals to 1 plus the number of robot axes.

Returns a list of joints an MxN matrix, where M is the number of robot axes plus 4 columns. Linear moves are rounded according to the smoothing parameter set inside the program.

Returns the joint limits of a robot

Returns the current joints of a robot or the joints of a target. If the item is a cartesian target, it returns the preferred joints (configuration) to go to that cartesian position.

Returns the robot configuration state for a set of robot joints.

Returns the home joints of a robot. These joints can be manually set in the robot "Parameters" menu, then select "Set home position"SetJointsHome(double[])

Saves a program to a file.

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Moves a robot to a specific target ("Move Circular" mode). By default, this function blocks until the robot finishes its movements.

Checks if a joint movement is free of collision.

Checks if a joint movement is free of collision.

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveJ can also be applied to programs and a new movement instruction will be added.

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.

Moves a robot to a specific target ("Move Joint" mode). By default, this function blocks until the robot finishes its movements.

Checks if a linear movement is free of collision.

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements. Given a target item, MoveL can also be applied to programs and a new movement instruction will be added.

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.

Moves a robot to a specific target ("Move Linear" mode). By default, this function blocks until the robot finishes its movements.

Returns the name of an item. The name of the item is always displayed in the RoboDK station tree

Create a new communication link. Use this for robots if you use a multithread application running multiple robots at the same time.

Returns an item pointer (:class:.Item) to a robot link. This is useful to show/hide certain robot links or alter their geometry.

Returns the parent item of this item.

Generates a pause instruction for a robot or a program when generating code. Set it to -1 (default) if you want the robot to stop and let the user resume the program anytime.

Returns the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will get the pose of the end effector

Returns the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.

Returns the reference frame pose of an item. If a robot is provided it will get the tool pose of the active reference frame used by the robot.

Returns the tool pose of an item. If a robot is provided it will get the tool pose of the active tool held by the robot.

Projects a point to the object given its coordinates. The provided points must be a list of [XYZ] coordinates. Optionally, a vertex normal can be provided [XYZijk].

Returns the RoboDK link Robolink().

Changes the color of a robot/object/tool. A color must must in the format COLOR=[R,G,B,(A=1)] where all values range from 0 to 1. Alpha (A) defaults to 1 (100% opaque). Set A to 0 to make an object transparent.

Changes the color of a robot/object/tool. A color must must in the format COLOR=[R,G,B,(A=1)] where all values range from 0 to 1. Alpha (A) defaults to 1 (100% opaque). Set A to 0 to make an object transparent.

Use RDK() instead. Returns the RoboDK link Robolink().

运行一个程序。它返回instructi的数量ons that can be executed successfully (a quick program check is performed before the program starts) Program parameters can be provided for Python calls. This is a non-blocking call.Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used ->the program will run on the robot(default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in the RoboDK GUI

添加一个程序调用,代码、消息或评论the program. Returns True if succeeded.

运行一个程序。它返回instructi的数量ons that can be executed successfully (a quick program check is performed before the program starts) This is a non-blocking call. Use IsBusy() to check if the program execution finished. Notes: if setRunMode(RUNMODE_SIMULATE) is used -> the program will be simulated (default run mode) if setRunMode(RUNMODE_RUN_ROBOT) is used -> the program will run on the robot (default when RUNMODE_RUN_ROBOT is used) if setRunMode(RUNMODE_RUN_ROBOT) is used together with program.setRunType(PROGRAM_RUN_ON_ROBOT) -> the program will run sequentially on the robot the same way as if we right clicked the program and selected "Run on robot" in the RoboDK GUI

Save a station or object to a file

Apply a scale to an object to make it bigger or smaller. The scale can be uniform (if scale is a float value) or per axis (if scale is a vector).

Retrieve the currently selected feature for this object (surface, point, line, ...)

Sets a target as a cartesian target. A cartesian target moves to cartesian coordinates.

Sets a target as a joint target. A joint target moves to a joints position without regarding the cartesian coordinates.

设置颜色物体的形状。它也可以sed for tools. A color must in the format COLOR=[R, G, B,(A = 1)] where all values range from 0 to 1.

Set the color of an object, tool or robot. A color must in the format COLOR=[R, G, B,(A = 1)] where all values range from 0 to 1.

Set the robot connection parameters.

Sets a variable (output) to a given value. This can also be used to set any variables to a desired value.

Obsolete: Use setPoseFrame instead. Sets the frame of a robot (user frame). The frame can be either an item or a 4x4 Matrix. If "frame" is an item, it links the robot to the frame item. If frame is a 4x4 Matrix, it updates the linked pose of the robot frame.

Obsolete: Use setPoseFrame instead. Sets the frame of a robot (user frame). The frame can be either an item or a 4x4 Matrix. If "frame" is an item, it links the robot to the frame item. If frame is a 4x4 Matrix, it updates the linked pose of the robot frame.

Sets the position (pose) the object geometry with respect to its own reference frame. This procedure works for tools and objects.

Obsolete: Use setPoseTool(pose) instead. Sets the tool pose of a tool item. If a robot is provided it will set the tool pose of the active tool held by the robot.

Sets the program instruction at position id

Update item flags. Item flags allow defining how much access the user has to item-specific features.

Sets the joint limits of a robot

Sets the current joints of a robot or the joints of a target. It the item is a cartesian target, it returns the preferred joints (configuration) to go to that cartesian position.

Set the home position of the robot in the joint space. param joints: robot jointsJointsHome()

Update the robot milling path input and parameters. Parameter input can be an NC file (G-code or APT file) or an object item in RoboDK. A curve or a point follow project will be automatically set up for a robot manufacturing project. Tip: Use getLink() and setLink() to get/set the robot tool, reference frame, robot and program linked to the project. Tip: Use setPose() and setJoints() to update the path to tool orientation or the preferred start joints.

Set the name of a RoboDK item.

Set a custom data parameter. Some items can hold custom data parameters.

Send a specific parameter for an item.

Sets the tool mass and center of gravity. This is only used with accurate robots to improve accuracy.

Attaches the item to a new parent while maintaining the relative position with its parent. The absolute position is changed.

Attaches the item to another parent while maintaining the current absolute position in the station. The relationship between this item and its parent is changed to maintain the abosolute position.

Sets the local position (pose) of an object, target or reference frame. For example, the position of an object/frame/target with respect to its parent. If a robot is provided, it will set the pose of the end effector.

Sets the global position (pose) of an item. For example, the position of an object/frame/target with respect to the station origin.

Sets the tool of a robot or a tool object (Tool Center Point, or TCP) to a frame position. To set a new pose positionSetPoseFrame(Mat)If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Sets the tool of a robot or a tool object (Tool Center Point, or TCP) to a frame position. To set a new frame positionSetPoseFrame(IItem)If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Sets the tool of a robot or a tool object (Tool Center Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Sets the tool of a robot or a tool object (Tool Center Point, or TCP). The tool pose can be either an item or a 4x4 Matrix. If the item is a tool, it links the robot to the tool item.If tool is a pose, it updates the current robot TCP.

Sets the robot of a program or a target. You must set the robot linked to a program or a target every time you copy paste these objects. If the robot is not provided, the first available robot will be chosen automatically.

Sets the rounding accuracy to smooth the edges of corners. In general, it is recommended to allow a small approximation near the corners to maintain a constant speed. Setting a rounding values greater than 0 helps avoiding jerky movements caused by constant acceleration and decelerations.

Sets if the program will be run in simulation mode or on the real robot. Use: "PROGRAM_RUN_ON_SIMULATOR" to set the program to run on the simulator only or "PROGRAM_RUN_ON_ROBOT" to force the program to run on the robot.

Sets the speed and/or the acceleration of a robot.

Obsolete: Use setPoseTool instead. Sets the tool pose of a robot. The tool pose can be either an item or a 4x4 Matrix. If "tool" is an item, it links the robot to the tool item. If tool is a 4x4 Matrix, it updates the linked pose of the robot tool.

Obsolete: Use setPoseTool instead. Sets the tool pose of a robot. The tool pose can be either an item or a 4x4 Matrix. If "tool" is an item, it links the robot to the tool item. If tool is a 4x4 Matrix, it updates the linked pose of the robot tool.

Set the alpha channel of an object, tool or robot. The alpha channel must remain between 0 and 1.

Sets the item visiblity status

Sets the robot movement smoothing accuracy (also known as zone data value). Obsolete, use SetRounding instead.

Show an object or a robot link as collided (red)

Show or hide instruction items of a program in the RoboDK tree

Displays a sequence of joints

Show or hide targets of a program in the RoboDK tree

Return the current joint position of a robot (only from the simulator, never from the real robot). This should be used only when RoboDK is connected to the real robot and only the simulated robot needs to be retrieved(for example, if we want to move the robot using a spacemouse). Note: Use robot.Joints() instead to retrieve the simulated and real robot position when connected.

Computes the forward kinematics of the robot for the provided joints. The tool and the reference frame are not taken into account.

Computes the inverse kinematics for the specified robot and pose. The function returns all available joint solutions as a 2D matrix.

Computes the inverse kinematics for the specified robot and pose. The joints returned are the closest to the current robot configuration (see SolveIK_All())

Stops a program or a robot

Updates a program and returns the estimated time and the number of valid instructions. An update can also be applied to a robot machining project. The update is performed on the generated program.

Checks if the item is valid. An invalid item will be returned by an unsuccessful function call.

Returns 1 if the item is visible, otherwise, returns 0.

Waits for an input io_id to attain a given value io_value. Optionally, a timeout can be provided.

Waits (blocks) until the robot finishes its movement.