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reset_connection: [ OPTIONAL ] This indicates whether a ClearFaults command will reconnect to the robot controller after the command is issued. The default value is true.

If a robot error/fault state occurs for one of the robots in the currently loaded deconfliction group, the Realtime Controller will enter a fault state. Examples of reasons may be: lost connection to a robot due to an E-stop, or the robot entering a fault state due to excessive speed or force. The ClearFaults command will attempt to recover any faults that the OEM controller allows allows to be cleared programmatically, and transition the Controller back into Config mode if possible. It will fail if there are still active, unresolvable faults.

If reset_connection is true(default value), the Realtime Controller will attempt to reconnect to the robot controller after recovering from a fault state. If reset_connection is false, an explicit Connect ASCII call would be required prior to entering Operation mode.

This command will return a single response code as a result value.

project_name: The name of the project installed on the control panel that you want to load.

upgrade: [ OPTIONAL ] A boolean value that decides if the installed RPC project is from an earlier release version, it will be upgraded for compatibility. Default value is True.

This function loads an RPC project. A load result will be returned once the process has finished and then RapidPlan will be in configuration mode.

This command will return a response code to acknowledge the command has been received.

{topic: LoadProject,type: Response,data: {seq: <value>}}

Once the load is completed, the system will send a delayed response to indicate the project has finished loading.  

{topic: LoadProject,type: DelayedResponse,data: {seq: <value>}}

project_name:[ OPTIONAL ] This indicates which project will be made the default project. If this argument is omitted, any previous setting will be cleared and no project will be the default.

This command is used to define which project is the Default project that will automatically be loaded when RapidPlan powers on or is otherwise not in Operation Mode.

Sending a SetDefaultProject command without specifying the project_name parameter will clear any previous setting.

This command will return a response to acknowledge the command has been received and executed successfully.

{topic: SetDefaultProject,data: {project_name: DemoProject}}

or

{topic: SetDefaultProject}

connect [ OPTIONAL ]: this boolean argument, if true, will attempt to connect to all robots before attempting to enter Operation mode. Default is false.

Attempts to put the controller into Operation mode. This call is blocking. Once all participating robots have indicated readiness, return messages will be sent, and subsequent Move calls will be accepted.

This command will return a response to acknowledge the command has been received and executed successfully.

robot_names: [ OPTIONAL ] An array specifying which robots should be activated. If not passed, all inactive robots in the project will be activated.

project_name: [ OPTIONAL ] The name of the project you’d like to activate the robot in. This is required if the robot you want to deactivate is not in the loaded project.

This command will re-activate a robot. After this command, when Connect is called, the activated robot will be connected to, and when in OPERATION mode this robot will be controlled by RTR.
This command must be called when the controller is in CONFIG mode.

This command will return a response to acknowledge the command has been received and executed successfully.

robot_name: Specifies which robot should be deactivated.
project_name: [ OPTIONAL ] The name of the project you’d like to deactivate the robot in. This is required if the robot you want to deactivate is not in the loaded project. If the project is not loaded robot_name is the only other valid key.
preset_name: [ OPTIONAL ] A string specifying the preset of the robot to be used in the inactive state. The preset will determine the collision geometry as well as the number of joints. If not specified, the active preset will be used.

treat_as_obstacle: [ OPTIONAL ] A boolean value that specifies if the deactivated robot should be treated for collisions by the other robots in the work cell. Default value is true.
If treat_as_obstacle is enabled, then the following keys are mutually exclusive to specify the behavior of the deactivated robot:

• joint_config: An array of floats specifying the angle for each joint of the robot. If the robot’s preset includes user defined joints, they must be provided as well, sorted by the driver index.

• target_name: A string specifying the name of the target that the robot will be positioned at. A user is also able to update a deactivated robot position using DeactivateRobot command with a new target specified by target_name: <new target> and treat_as_obstacle: True.

• use_last_known_config: Default option. A boolean flag that specifies the last known joint configuration of the robot should be used. A robot must have been Connected at least once for there to be known joint angles. These values are saved to disk, so on project reload, this option can still be used.

This command ‘deactivates’ a robot which means the RTR controller will ignore it when connecting to the robots within a project. Subsequent Connect commands will only connect to activated robots, and when in Operation mode, only the activated robots will be controlled by RTR. In order to prevent collisions, the deactivated robots can be configured for collision checking by setting the appropriate preset and joint angles. Optionally, the robot can be ignored during collision checking if it is not present in the workcell.
This command must be called when the controller is in CONFIG mode.

This command will return a response to acknowledge the command has been received and executed successfully.

robot_name: This indicates which robot this call pertains to .
enabled: Accepts 0 to disable alternate behavior or 1 to enable alternate behavior at the specified goal. If enabled is being set to 0, no other arguments are required.

complete_move: [ OPTIONAL ] Default value is 1 or true. This Boolean specifies if the robot should continuously try to plan a motion to the original goal after it has successfully moved to the alternate location. If true, a robot for which a move timed out will first move to the alternate location. If this alternate move is successful it will continuously try to plan a motion from the alternate location to the original move request location. If False, a robot for which a move timed out will move to the alternate location and wait there for the next command.

mode: [ OPTIONAL ] Specifies what the robot should do if the original motion fails.

• 0: Default behavior. Move to a different, specified, position.

• 1: Partial Execution. If this option is selected, the robot will move along its path as far as it can before a robot-based obstruction is present. If the obstruction is removed before deceleration, the robot will not stop at this point and continue smoothly towards the goal. If the obstruction is still present, the robot will come to a stop and automatically resume motion when the robot-based obstruction is removed. This behavior does not trigger for static-obstacle obstructions. When Partial Execution is enabled, complete_move is always set to true.

• multirobot: If this option is selected, the robot will automatically be entered into a multi robot plan to try to get out of deadlock. Only other robots that are also configured to use multirobot avoidance will be used in this planning.

goal: [ OPTIONAL ] If mode is set to 0, this argument specifies the position that will act as the alternate position for the specified robot. Goal is a placeholder, and the actual key value pair would correspond to the acceptable positions which are:

• target_name: <target_name>

• pose: [x,y,z,r,p,y]

timeout: [ OPTIONAL ] -1 or 0.05 to 1000. Default value is -1. A value of -1 indicates infinite time. This value indicates how long the Realtime Controller should continue planning to find a alternative path if a path can not be found. When Partial Execution is enabled, this value specifies the time a robot waits to finish the partial move.

This command is used to enable and set the alternate location for a robot. With this feature enabled, in the event a Move command fails or is interrupted, the Realtime Controller will not return a response code immediately, and will instead automatically plan to the specified alternate position. Depending on the behavior of complete move the Realtime Controller will either return a response Error code indicating the robot reached the alternate location, or continue to plan to the location that was first specified in the move command.
Only one target can be set as the alternate location, so if that target does not exist in all of the robots presets, when a preset it changed, the alternate location should be updated.
Enabling the alternate location behavior changes the way a robot will execute a move, therefore a SetAlternateLocation command can only be sent while a robot is stationary and while the Realtime Controller is in either CONFIG or OPERATION mode.
When this behavior is enabled, the robot will execute motions using the same parameters as the original move. For example, if a move is sent using move_type: roadmap then the robot will make a roadmap move to the alternate location. If the original move is a move_type: direct then a direct move will be made to the alternate location.
When partial execution is enabled (mode: 1) or the default behavior (mode: 0) with complete move enabled, the timeout value is used.

This command will return a response to acknowledge the command has been received and executed successfully.

robot_name: The name of the robot controlled by the Move command.

goal: Where the robot will move to, either a target or pose, joint configuration or along a route. Goal is a placeholder key, and the acceptable keys are either pose or target, joint_config or route. The goal may include external axes that are specified as part of a named target or a joint configuration, or as external_axes of a pose move. Unless the external axes value is provided as an argument in external_axes, external axes will either remain fixed during a move, or switch to different setpoint values defined by roadmap moves.

• target: target_name

• pose: [x,y,z,r,p,y]

• joint_config: [j1, j2, j3, j4, j5, j6] to move robot native joints, or [j1, j2, j3, j4, j5, j6, j7, j8...] to move robot pose + external joints

• route: route_name, the following error codes may be sent in response

  • ROUTE_NOT_FOUND: If no route with the defined name exists in the project

  • ROUTE_NOT_IN_ROBOT: If the named route does not belong to the specified robot

  • ROUTE_NOT_IN_PRESET If the named route is not in the current (or requested preset, if exists)

speed: The speed at which the robot will move on a scale from 0.01 to 1.0. This scales max velocity but not acceleration or jerk.

move_type: [ OPTIONAL ] The type of move the robot will make. Either direct, roadmap, or planning. Default move type is a roadmap move. The arguments are case insensitive or can use the assigned numeric value.

• 0 or direct

• 1 or roadmap

• 2 or planning

smoothing: [ OPTIONAL ] A value from 0.0 mm to 500 mm indicating how far from a node the robot should attempt to begin smoothing its trajectory. Default value is 0.0 mm. Note that a higher smoothing value does not necessarily mean faster movement.

interp: [ OPTIONAL ] Specifies the interpolation type for the robot when making a direct move, or any time it must leave the roadmap. Use the case insensitive string, or its integer equivalent to specify joint or linear interpolation. This parameter does not apply to a planning move. Default is joint space interpolation.

• 0 or J (default)

• 1 or L

collision_check: [ OPTIONAL ] This flag overrides collision checking against the static scene for Direct move types. Robot to robot collisions will always be checked regardless of this flag, but robot self collisions will not be checked. A value of 1 specifies collisions should be checked, and a value of 0 specifies collisions will not be checked. Default value is 1.

collision_check_dsm: [ OPTIONAL ] This flag overrides collision checking against the dynamic scene model for Direct move types. A value of 1 specifies collisions should be checked, and a value of 0 specifies collisions will not be checked. Default value is 1.

timeout: [ OPTIONAL ] This timeout only applies to planning move types when the interrupt behavior is not applicable. This value is the amount of time given to plan a path to the specified goal, in seconds. If not provided, the default value is 10 seconds. The minimum value is 0.01 seconds and the maximum value is 120.0 seconds.

relative: [ OPTIONAL ] A boolean flag indicating that a pose or joint_config move should be performed relative to the last commanded robot pose or joint configuration. Default value is false. All move types are supported when using the relative flag. A reference frame name, ref_frame, can be specified as well for the pose to be in.

A relative move can be performed on all robot joints and external axes if it’s a direct, joint_config or a pose move. A full joint configuration including external axes, e.g., [j1, j2, j3, j4, j5, j6, j7, j8...], or, a full pose including external axes, e.g., pose: [0,0,0,0,0,0], external_axes: {rail: 50}}, should be given to specify a relative direct move. Multi-axis relatives are supported.

ref_frame: [ OPTIONAL ] The name of a frame in the project that should be used as a reference. The goal type should be a pose and relative should be set to false or not specified. The robot will move to the pose relative to the frame specified. The default reference frame is world.

preset_name: [ OPTIONAL ] This argument specifies which preset the robot should switch to before executing the motion. Including this argument has the same effect as calling SetRobotPreset before the Move command. If included, the robot cannot have any moves in its queue with a different TCP or number of controlled axes.

external_axes: [ OPTIONAL ] This argument, including all the related parameters that are defined within this argument, specifies the names of the external axes, the external axes position values for a direct move or a roadmap move to a goal pose.

If a robot's external axes remain fixed during a move, or switch to different setpoint values defined by a target, external_axes should be left unspecified.

external_axes argument is not used when the goal type is joint_config, because joint_config could include all robot native joints and external axes values.

Robot pose value plus external_axes can be used for relative direct pose moves.

• external_axes is defined as {<axis name>: active} or {<axis name>: <value>}. The names of the external axes must match what is already defined in the RapidPlan Create project.

• use {<axis name>: active} if an external axis is used by RapidPlan software when solving a move to a goal pose.

• use {<axis name>: <value>} if an external axis is used for a move to a goal pose with a specific external axis position value.

roadmap_mode: [ OPTIONAL ] for roadmap moves only, this optional argument defines how the robot should use the roadmap + off-roadmap motions when moving to a goal which is a pose or joint config.

• 0 or default The robot will use the roadmap as much as possible. (default)

• 1 or shortest_path The robot uses a shorter path, which typically has a longer off-roadmap segment.

• 2 or roadmap_only The robot will only move on the roadmap (requires start and goal to be on the roadmap).

shortest_path_only: [ OPTIONAL ] for roadmap moves only, this optional argument only allows the robot use what would be the shortest path through the roadmap. If that path isn’t available, robot would wait, or use partial moves settings if that option is specified.

costs : [ OPTIONAL ] for planning moves only, this argument defines the cost penalty values of the individual cost terms. At least one cost term is required for the costs argument.

• external_axis : [ OPTIONAL ] how much external axes motions are penalized. The default value is 0.0, which puts no penalty on using the external axes. The range of this float-point value is between 0.0 and 1.0.

• path_length: [ OPTIONAL ] this argument defines the cost penalty value for a planning move using the shortest path. The range of the value is between 0.0 and 1.0.

• via_points: [ OPTIONAL ] this argument defines the cost penalty value for a planning move using the fewest via points (waypoints). The range of the value is between 0.0 and 1.0.

• The submitted costs are normalized; it is not an error if their sum is greater than 1.0

constraints : [ OPTIONAL ] for planning moves only, this argument defines an array of user specified orientation constraints that only allow the TCP to rotate along certain axes but not the others between targets.

• type : Specifies a type of constraint. Currently, only orientation constraint is supported.

  • 0 or orientation

• axis : an array of 3 integer values that specifies which axis to be constrained. 1 means the robot TCP would not rotate along this axis during the motion, but a deviation of 1 degree will be allowed which gives the planner a bit of "slack" to find solutions quicker without much detrimental effect on output paths. 0 means the robot TCP allows to rotate along this axis. Two axes are required to be constrained. If there is no offset specified, the vector axis [1, 0, 1] represents the x-y-z axis of the TCP frame. Otherwise, they are x-y-z axis of the ref frame from the TCP frame with offset.

• offset: [ OPTIONAL ] an array of 6 floats that specifies an offset that will be applied to the frame relative to TCP frame. The client's active units and rotation convention are used, or the default of millimeters, degrees, and roll pitch yaw.
  For example, if a gripper holding a cup of water like the following cases:
  

  

  the constraint would be:

  a. no offset, and constraints: [{type: orientation, axis: [ 1, 1, 0 ] }]

  b. no offset, and constraints: [{type: orientation, axis: [ 0, 1, 1 ] }]

  c. constraints: [{type: orientation, offset:[delta_x,0,0,0,delta_pitch,0], axis: [ 1, 1, 0 ] }]

trigger: [ OPTIONAL ] This argument, including all the related parameters that are defined within this object, specifies an output based on the timing of a move or a move segment of a combined move. trigger is an object with 3 fields:

• name: Only one trigger can be included for each move command, or each move segment of a combined move command. The trigger should have a user defined, stateless, globally unique name, to identify the signal for the receiver of the trigger.

• output: The trigger output should be configured during runtime as part of a move command, to turn on or off the output signal as an 1-shot event, until the signal is overridden by either another API command. If the output key is not specified, this trigger is disabled and trigger time is ignored. If output is specified, trigger time must be defined and cannot be omitted.

  • 0 or false: output is off

  • 1 or true: output is on

• time: Specifies the timing of the output, i.e. the time before the target position is reached, or after the move has started. The unit is in seconds and whose absolute value must be greater than 0.1.

  • time must be a none-zero value, and should always be >= 0.1 or <= -0.1. The move command will return an error code if 0.1 < time < 0.1.

  • A positive value ( time>=0.1) indicates the time after the move starts, ie., a "time-after trigger".

  • A negative value (time<=-0.1) indicates the time before reaching the goal, ie., a “time-before trigger”.

  • If time is longer than the actual move time, a time-after trigger will turn on when reaching the goal, a time-before trigger will turn on when the move starts. The MoveFeedback response message for the trigger will arrive before the MoveResult message for the move.

  • If alternate location is used(mode=0 in SetAlternateLocation), and if complete_move = true:

    • Only time-after triggers will apply to the move to the alternate location, time-before triggers will take no effect.

    • Only time-before triggers will apply to the move to the goal, time-after triggers will take no effect.

  • If alternate location is used(mode=0 in SetAlternateLocation), and if complete_move = false:

    • Only time-after triggers will apply to the move to the alternate location, time-before triggers will take no effect.

  • A trigger will not be re-activated if a Move command is issued when the robot is already at the goal position.

With this new generic Move command and the key value syntax, you can specify any of the former Blind Moves, MoveToXXX, and OffroadtoXXX commands with this one command.

A direct move moves the robot directly from its current position to its goal position with a given interpolation type. This command is efficient, but can easily be blocked by other robots. It is very useful for final motions, especially if collision checking needs to be disabled.

A roadmap move will follow the edges defined in the RPC project. This is expected to be the most common move type since the robots will use the roadmap to dynamically avoid obstacles. If pose is specified, and there is no target in the roadmap as that pose, the robot will leave the roadmap to reach the actual pose. The offroadmap portion will be collision checked, and will use the interpolation type specified (or joint interpolation by default).

A planning move calculates a path for the robot at runtime to reach the goal. This is primarily used to put a robot on the roadmap in the beginning of a task. When called, the requested robot must not be executing any current requests, otherwise it will immediately return an error. If any other robots are currently executing move requests when a planning move request is called, the robot attempting the planning move will be blocked with an Error code. If no collision free path to the goal can be found, the server will return an error by the end of the given timeout period.

When a Move request is received, path planning occurs before a response is sent. If a path is found, this command will return a response code to acknowledge the command has been received, the name of the robot that this move is for, and a unique sequence ID for this specific move. If planning fails, an appropriate error code will be returned, and no delayed response will be sent.

{topic: Move,type: Response,data: {robot_name: <value>,seq: <value>}}

If a path was found, the system will send a MoveResult message along with a response code to indicate when the move completes. The name of the robot that the move was for, and the unique sequence ID for that move will be returned in the message. If the move is interrupted, the delayed response will contain an appropriate error code.

{topic: Move,type: DelayedResponse,data: {robot_name: <value>,seq: <value>}}

or, for a trigger a feedback response will be sent to indicate that trigger output is activated to on, or off. The trigger feedback responses will include the same seq as the Move it is a part of.

{topic: Move,type: Feedback, data: {robot_name: <value>,seq: <value>, trigger: {name: <value>, output: <value>}}}

robot_name: The name of the robot for which a move is being canceled.
acceleration_factor [ OPTIONAL ] : The acceleration factor at which the robot will move on a scale from 0.5(50%) to 1.0(100%), when the move is being canceled. The default value is 0.8.

This function tells the Realtime Controller to abort planning and motion for the specified robot. After calling this, a robot may be left in an off roadmap location and will require a planning move command.
This command is only accepted when the RTR Controller is in OPERATION mode.
If a series of Move commands are queued for the robot in question, they will all be canceled simultaneously. The delayed responses of these commands are not guaranteed to be in queue order.

If CancelMove is called before planning is finished for a Move command, robot preset of the canceled move will still be applied because the preset had changed before planning started.

If a move is canceled mid-motion after a Move command which also sets the robot preset, the robot preset will be maintained.|

This command will return a response to acknowledge the command has been received and executed successfully.

target_name: Specifies which target will have its position updated.
robot_name: This specifies which robots TCP will be used at the new target location.
retrigger_autoconnect: [ OPTIONAL ] This boolean argument specifies if the auto-connect should be regenerated when updating the targets position. If the target is not part of an auto-connect, then this argument will have no effect. The default value is False.

object_states:: [ OPTIONAL ] This argument specifies whether the validation of the updated target position should take consideration of all object states or only the active objects. This argument can be set to either all or active.

If object_states is set to all, path validation will check all object states when updating a target. This is the default setting. If object_states is set to active, path validation of will check active object states when updating a target.

pose: [ OPTIONAL ] , if pose values [x, y, z, r, p, y] are specified, the pose values will be used to update the target position, instead of the specified robot TCP location.

joint_config: [ OPTIONAL ] , the joint configuration values will be used to update the target position instead of the specified robot TCP location, even if the robot is disconnected. The joint configuration values should include all robot links and external axes.

ref_frame: [ OPTIONAL ] , if specified, this frame is used as a reference for the pose value. ref_frame can be either a frame defined in RPC or a DSM frame.

validation: [ OPTIONAL ] , if specified this allows ignoring edge validities when updating a target, accepts values:

• require_valid or 0 [default]: the command fails if a node or edge that was valid become invalid;

• allow_invalid or 1: the command succeeds even if a node or edge becomes invalid. A warning message is shown.

This command updates the specified targets position to be at the specified robot TCP location in its current preset, or using an optional pose value. The target’s new position will be used for all assigned robots.
The target is created using the robot’s current joint angles which means the controller must be in CONFIG mode and the robot state must be connected.

A target’s position will only be updated, if all of its connections remain valid, otherwise the command fails and returns an error code EDGE_INVALIDATED. This could result from the new position being unreachable, the new position being in collision, or one of the motions to the new position resulting in a collision.

Only one target can be updated at a time. While a target is updating, any subsequent UpdateTarget commands will be rejected.

With the retrigger_autoconnect argument set to true, the targets position will be updated, and then the auto-connect will be re-run using the same parameters as set in RapidPlan Create. With retrigger_autoconnect set to false, just the target’s position will change, and all via point locations will remain the same. The edges leading to the new target location will be validated against the constraints of the auto-connect, and the UpdateTarget command will fail if all constraints are not met.

This command will return an acknowledgement with a status code indicating the command was received and is being executed.

This command will also return a delayed response when the update has completed or failed.

robot_name: Specifies the name of the robot to return the joint angles for.

native: [ OPTIONAL ] This argument, if true, returns only robot native joint configuration. If false, full robot joint configuration including external axes is returned. Default value is false.

with_joint_names: [ OPTIONAL ] This argument, if true, specifies the returned names of the robot joints and external joints in the current active robot preset. The returned names are also based on the status of native.

This command retrieves the current joint angles of a specified robot. If the robot has additional axes, they will be included sorted by their driver index. The values will be returned in the client’s units for both revolute and prismatic joints.

This command will return a response code, followed by the current joint angles in a comma separated array. This command will always include the robot axes, and by default will include the position of external axes if present.

{topic: IsOnTarget, data: { robot_name: <robot_name>, target_name: <target_name> [epsilon]: <epsilon>}}

robot_name: Specifies which robot to check

target_name: Specifies which target to check

epsilon [ OPTIONAL ] : the distance metric to use when determining if the robot is on target.

IsOnTarget can be used to detect if the robot is at a specific target. If multiple targets are clustered at the same location it cannot tell you if the robot is at one over the other or which target motion planning will choose when trying to move from that position.

{topic: IsOnTarget, type: Response, data: {on_target: <boolean>}}

{topic: IsOnTarget, data: { robot_name: robot1, target_name: target2}}

{topic: IsOnTarget, data: { robot_name: robot2, target_name: target5, epsilon: 0.3}}