Class RoboDK

This class is the link to allows to create macros and automate RoboDK. Any interaction is made through "items" (IItem() objects). An item is an object in the RoboDK tree (it can be either a robot, an object, a tool, a frame, a program, ...).

Creates a link with RoboDK

RoboDK API protocol version.

Filepath to the RoboDK.exe. Typically C:/RoboDK/bin/RoboDK.exe. Leave empty to use the registry key: HKEY_LOCAL_MACHINE\SOFTWARE\RoboDK

If AUTO_UPDATE is 1, updating and rendering objects the 3D the scene will be delayed until 100 ms after the last call. This value can be changed in Tools-Options-Other-API Render delay, or using the RoboDK.Command('AutoRenderDelay', value) and RoboDK.Command('AutoRenderDelayMax', value)

The custom command line options will be appended to the standard command line argument string returned by RoboDkCommandLineParameter.CommandLineArgumentString. See//www.sinclairbody.com/doc/en/RoboDK-API.html#CommandLine

Default Socket send / receive timeout in milliseconds: 10 seconds

RoboDk.API.RoboDkCommandLineParameter.DoNotUseRecentlyUsedFileList

RoboDk.API.RoboDkCommandLineParameter.DoNotUseSettingsFile

RoboDK Event protocol version.

RoboDk.API.RoboDkCommandLineParameter.ExitRoboDkAfterClosingLastApiConnection

RoboDk.API.RoboDkCommandLineParameter.Hidden

RoboDk.API.RoboDkCommandLineParameter.HideReferenceFrames

RoboDk.API.RoboDkCommandLineParameter.HideWindowsWhileLoadingNcFile

RoboDk.API.RoboDkCommandLineParameter.NoShow

RoboDk.API.RoboDkCommandLineParameter.LoadSettingsFromFile

RoboDk.API.RoboDkCommandLineParameter.Logfile

Name of the RoboDK instance. In case of multiple instances the name can help to identify the instance.

RoboDk.API.RoboDkCommandLineParameter.NoCommunicationToRoboDkServer

RoboDk.API.RoboDkCommandLineParameter.NoDebugOutput

RoboDk.API.RoboDkCommandLineParameter.NoSplash

RoboDk.API.RoboDkCommandLineParameter.NoUserInterface

RoboDK.exe process.

The RoboDK build id and is used for version checking. This value always increases with new versions

TCP Client Port

Port to stop looking for a RoboDK connection.

Defines the RoboDK Simulator IP Address. Default: localhost (Client and RoboDK Server runs on same computer)

TCP Server Port to which this instance is connected to.

Port to start looking for a RoboDK connection.

If True checks that provided items exist in memory and poses are homogeneous

RoboDk.API.RoboDkCommandLineParameter.StartHidden

RoboDk.API.RoboDkCommandLineParameter.StartNewInstance

RoboDk.API.RoboDkCommandLineParameter.TreeState

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

Load a file and attaches it to parent and returns the newly added IItem.

Adds a new Frame that can be referenced by a robot.

Add a new robot machining project. Machining projects can also be used for 3D printing, following curves and following points. It returns the newly created :class:.IItemcontaining the project settings. Tip: Use the macro /RoboDK/Library/Macros/MoveRobotThroughLine.py to see an example that creates a new "curve follow project" given a list of points to follow(Option 4).

Adds a list of points to an object. The provided points must be a list of vertices. A vertex normal can be provided optionally.

Add a new program to the RoboDK station. Programs can be used to simulate a specific sequence, to generate vendor specific programs (Offline Programming) or to run programs on the robot (Online Programming).

Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices. A vertex normal can be provided optionally.

Adds a shape provided triangle coordinates. Triangles must be provided as a list of vertices. A vertex normal can be provided optionally.

Add a new empty station.

Add a new target that can be reached with a robot.

Add Text to 3D View

Create a new robot or mechanism.

Calibrate a Reference Frame given a list of points or joint values. Important: If the robot is calibrated, provide joint values to maximize accuracy.

Calibrate a tool (TCP) given a number of points or calibration joints. Important: If the robot is calibrated, provide joint values to maximize accuracy.

Open a simulated 2D camera view. Returns a handle pointer that can be used in case more than one simulated view is used.

Closes all camera windows or one specific camera if the camera handle is provided.

Set the parameters of the simulated camera.

Take a snapshot from a simulated camera view and save it to a file.

Open a new additional RoboDK Link to the same already existing RoboDK instance. NOTE: Use IItem.Clone() to use an already existing item on the new RoboDk connection.

Close RoboDK window and finish RoboDK process.

Closes the current station without suggesting to save

Check if item1 and item2 collided.

Checks the collision between a line and any objects in the station. The line is composed by 2 points.

Returns the number of pairs of objects that are currently in a collision state.

Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events.

Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events.

Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events.

Send a special command. These commands are meant to have a specific effect in RoboDK, such as changing a specific setting or provoke specific events.

Establish a connection with RoboDK. If RoboDK is not running it will attempt to start RoboDK from the default installation path. (otherwise APPLICATION_DIR must be set properly).

Checks if the RoboDK Link is connected.

Makes a copy of an item (same as Ctrl+C), which can be pasted (Ctrl+V) using Paste().

Delete a list of items

Set all pairs as NOT checking for collisions:

Stops the communication with RoboDK. If setRunMode is set to MakeRobotProgram for offline programming, any programs pending will be generated.

Set all pairs as checking for collisions:

Fit all

Returns the active station item (station currently visible)

Return the list of items that are in a collision state. This call will run a check for collisions if collision checking is not activated (if SetCollisionActive is set to Off).

Returns the list of pairs of items that are in a collision state. This call will run a check for collisions if collision checking is not activated (if SetCollisionActive is set to Off).

Returns the position of the cursor as XYZ coordinates (by default), or the 3D position of a given set of 2D coordinates of the window (x and y coordinates in pixels from the top left corner) The XYZ coordinates returned are given with respect to the RoboDK station(absolute reference). If no coordinates are provided, the current position of the cursor is retrieved.

Returns an item by its name. If there is no exact match it will return the last closest match. Specify what type of item you are looking for with itemtype. This is useful if 2 items have the same name but different type.

Returns a list of items of all available items in the currently open station in robodk. Optionally, use a filter to return items of a specific type

Returns a list of items (list of names) of all available items in the currently open station in robodk. Optionally, use a filter to return specific items (example: GetItemListNames(itemType = ItemType.Robot))

Returns the license string (as shown in the RoboDK main window)

Returns the list of open stations in RoboDK

Gets a global or a user parameter from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" Some available parameters: PATH_OPENSTATION = folder path of the current .stn file FILE_OPENSTATION = file path of the current .stn file PATH_DESKTOP = folder path of the user's folder Other parameters can be added or modified by the user

Gets all the user parameters from the open RoboDK station. The parameters can also be modified by right clicking the station and selecting "shared parameters" User parameters can be added or modified by the user

Returns the behavior of the RoboDK API. By default, robodk shows the path simulation for movement instructions (RunMode.Simulate)

Returns the list of items selected (it can be one or more items)

Gets the current simulation speed. A speed if 1 means real-time simulation.

Get the pose of the wold reference frame with respect to the view (camera/screen)

Get RoboDK's main window handle

Hides the RoboDK window.

Check if objectInside is inside the objectParent.

Shows a RoboDK popup to select one object from the open station. An item type can be specified to filter desired items. If no type is specified, all items are selectable. The method always returns an IItem. Use item.Valid() to check if the selected item is a valid item. E.g. if the user exits the dialog without selecting an item, the method still returns an item object, but item.Valid() will return False.

Get Joint positions of all robots defined in the robotItemList.

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

Takes a laser tracker measurement with respect to its own reference frame. If an estimate point is provided, the laser tracker will first move to those coordinates.

Merge multiple object items as one. Source objects are not deleted and a new object is created.

Start the event communication channel. Use WaitForEvent to wait for a new event.

Paste the copied item as a dependency of another item (same as Ctrl+V). Paste should be used after Copy(). It returns the newly created item.

Paste the copied item as a dependency of another item (same as Ctrl+V). Paste should be used after Copy(). It returns the newly created item.

Defines the name of the program when the program is generated. It is also possible to specify the name of the post processor as well as the folder to save the program. This method must be called before any program output is generated (before any robot movement or other instruction).

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

Return the list of recently opened files

Display/render the scene: update the display. This function turns default rendering (rendering after any modification of the station unless alwaysRender is set to true). Use Update to update the internal links of the complete station without rendering (when a robot or item has been moved).

Check if RoboDK was installed from RoboDK's official installer

返回根据再保险RoboDK安装路径gistry (saved by RoboDK installer)

Adds code to run in the program output. If the program exists it will also run the program in simulate mode.

Shows a message or a comment in the output robot program.

Adds a function call in the program output. RoboDK will handle the syntax when the code is generated for a specific robot. If the program exists it will also run the program in simulate mode.

Save an item to a file. If no item is provided, the open station is saved.

Set the active station (project currently visible)

Set collision checking ON or OFF (CollisionCheckOff/CollisionCheckOn) according to the collision map. If collision check is activated it returns the number of pairs of objects that are currently in a collision state.

Set collision checking ON or OFF (COLLISION_ON/COLLISION_OFF) for a specific pair of objects. This allows altering the collision map for Collision checking. Specify the link id for robots or moving mechanisms (id 0 is the base).

Set collision checking ON or OFF (COLLISION_ON/COLLISION_OFF) for a specific list of pairs of objects. This allows altering the collision map for Collision checking. Specify the link id for robots or moving mechanisms (id 0 is the base).

Sets the color for a list of items given the a color object

Set the interactive mode to define the behavior when navigating and selecting items in RoboDK's 3D view.

Update global item flags. Item flags allow defining how much access the user has to item-specific features. Use FLAG_ITEM_* flags to set one or more flags.

Sets the current robot joints for a list of robot items and a list of a set of joints.

Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified. If not, it will be added to the station. The parameters can also be modified by right clicking the station and selecting "shared parameters"

Sets a global parameter from the RoboDK station. If the parameters exists, it will be modified. If not, it will be added to the station. The parameters can also be modified by right clicking the station and selecting "shared parameters"

Gets the nominal robot parameters.

Sets the behavior of the RoboDK API. By default, robodk shows the path simulation for movement instructions (RunMode.Simulate). Setting the run_mode to RunMode.QuickValidate allows performing a quick check to see if the path is feasible. If robot.Connect() is used, RUNMODE_RUN_FROM_PC is selected automatically.

Set the selection in the tree

Set the simulation speed. A simulation speed of 5 (default) means that 1 second of simulation time equals to 5 seconds in a real application. The slowest speed ratio allowed is 0.001. Set a large simmulation ratio (>100) for fast simulation results.

Set the pose of the wold reference frame with respect to the view (camera/screen).

Sets the visibility for a list of items

Update the RoboDK flags. RoboDK flags allow defining how much access the user has to RoboDK features. Use the flags defined in WindowFlags to set one or more flags.

Set the state of the RoboDK window

Show a list of objects or a robot link as collided (red) or as not collided (normal color)

Show a message in RoboDK (it can be blocking or non blocking in the status bar)

Shows or raises the RoboDK window.

Calculate the forward kinematics solution for multiple robots at the same time (faster)

Calculate the inverse kinematics solution for multiple robots at the same time. This call allows you to have a bulk calculation for faster performance.

Calculate the inverse kinematics solution for multiple robots at the same time (faster)

Calculate the inverse kinematics solution for multiple robots at the same time (faster)

Takes a measurement with the C-Track stereocamera. It returns two poses, the base reference frame and the measured object reference frame.Status is 0 if measurement succeeded.

Update the screen. This updates the position of all robots and internal links according to previously set values.

Return the vesion of RoboDK as a 4 digit string: Major.Minor.Revision.Build