4.4 Program Information Read and Write

Overview

The ProgramPose interfaces are used to read, write, and convert pose points stored in the robot’s teach-pendant programs.
Via the program_pose module you can locate a specific program and point index, perform CRUD operations, and switch between Cartesian and joint representations—making it easy to batch-maintain program points or perform off-line editing from the host PC.

4.4.1 Get the Value of a Specified Pose in a Program

Method Name	program_pose.read( program_name : str, index : int, program_type : str = USER_PROGRAM) -> tuple[ProgramPose, StatusCodeEnum]
Description	Get the value of a Pose with a specified index in a program.
Request Parameters	program_name : str The name of the specified program. index : int The index of the specified Pose. program_type : str The type of the program, default is USER_PROGRAM.
Return Value	ProgramPose: Pose information. StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.4.2 Modify the Value of a Specified Pose in a Program

Method Name	program_pose.write( program_name : str, index : int, value : ProgramPose, program_type : str = USER_PROGRAM) -> StatusCodeEnum
Description	Modify the value of a Pose with a specified index in a user-defined program.
Request Parameters	program_name : str The name of the specified program. index : int The index of the specified Pose. value : ProgramPose The new value of the Pose to be updated. program_type : str The type of the program, default is USER_PROGRAM.
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.4.3 Get All Poses in a Specified Program

Method Name	program_pose.read_all_poses( program_name : str, program_type : str = USER_PROGRAM) -> tuple[list[ProgramPose], StatusCodeEnum]
Description	Get all Pose information in a specified program.
Request Parameters	program_name : str The name of the specified program. program_type : str The type of the program, default is USER_PROGRAM.
Return Value	list[ProgramPose]: List of Pose information. StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.4.4 Add a Pose Entry to a Program

Method Name	program_pose.add( program_name : str, index : int, value : ProgramPose, program_type : str = USER_PROGRAM) -> StatusCodeEnum
Description	Add a new Pose at the specified index in a program. Returns an error if the index already exists.
Request Parameters	program_name : str The name of the specified program. index : int The index of the Pose to add. value : ProgramPose The Pose data to insert. program_type : str The program type, default is USER_PROGRAM.
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.4.5 Write One or More Robot Pose Values in a Program

Method Name	program_pose.write_poses( program_name : str, poses_to_update : list[ProgramPose]) -> StatusCodeEnum
Description	Write one or more robot Pose values in a program. Note: Only existing points can be updated; new points cannot be added.
Request Parameters	program_name : str The name of the specified program. poses_to_update : list[ProgramPose] List of poses to be updated.
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.4.6 Robot Program Pose Type Conversion

Method Name	ProgramPoses.convert_pose( pose : ProgramPose, from_type : PoseType, to_type : PoseType) -> tuple[ProgramPose, StatusCodeEnum]
Description	Convert the robot Pose values between joint coordinates and Cartesian space coordinates in a program.
Request Parameters	pose : ProgramPose The Pose value to be converted. from_type : PoseType The type before conversion. to_type : PoseType The desired type after conversion.
Return Value	ProgramPose: Pose information. StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

program_pose.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 机器人位姿使用示例 / Example of robot pose usage
"""

from Agilebot import Arm, PoseType, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the robot
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

program_name = "test_prog"

# [ZH] 读取所有位姿
# [EN] Read all poses
poses, ret = arm.program_pose.read_all_poses(program_name)
if ret == StatusCodeEnum.OK:
    print("读取所有位姿成功 / Read all poses successfully")
    # [ZH] 打印位姿信息
    # [EN] Print pose information
    for p in poses:
        print(f"位姿ID / Pose ID：{p.id}\n位姿名称 / Pose name：{p.name}")
else:
    print(f"读取所有位姿失败，错误代码 / Read all poses failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 读取单个位姿
# [EN] Read a single pose
pose, ret = arm.program_pose.read(program_name, 1)
if ret == StatusCodeEnum.OK:
    print("读取单个位姿成功 / Read single pose successfully")
    # [ZH] 打印位姿信息
    # [EN] Print pose information
    print(
        f"位姿ID / Pose ID：{pose.id}\n"
        f"位姿名称 / Pose name：{pose.name}\n"
        f"位姿类型 / Pose type：{pose.poseData.pt}\n"
        f"X：{pose.poseData.cartData.baseCart.position.x}\n"
        f"Y：{pose.poseData.cartData.baseCart.position.y}\n"
        f"Z：{pose.poseData.cartData.baseCart.position.z}\n"
        f"J1：{pose.poseData.joint.j1}\n"
        f"J2：{pose.poseData.joint.j2}\n"
        f"J3：{pose.poseData.joint.j3}\n"
    )
else:
    print(f"读取单个位姿失败，错误代码 / Read single pose failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 修改位姿
# [EN] Modify pose
pose.comment = "SDK_TEST_COMMENT"
ret = arm.program_pose.write(program_name, 1, pose)
if ret == StatusCodeEnum.OK:
    print("修改位姿成功 / Modify pose successfully")
else:
    print(f"修改位姿失败，错误代码 / Modify pose failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 转换位姿
# [EN] Convert pose
converted_pose, ret = arm.program_pose.convert_pose(pose, PoseType.CART, PoseType.JOINT)
if ret == StatusCodeEnum.OK:
    print("转换位姿成功 / Convert pose successfully")
else:
    print(f"转换位姿失败，错误代码 / Convert pose failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 打印位姿信息
# [EN] Print pose information
print(
    f"位姿ID / Pose ID：{converted_pose.id}\n"
    f"位姿名称 / Pose name：{converted_pose.name}\n"
    f"位姿类型 / Pose type：{converted_pose.poseData.pt}\n"
    f"X：{converted_pose.poseData.cartData.baseCart.position.x}\n"
    f"Y：{converted_pose.poseData.cartData.baseCart.position.y}\n"
    f"Z：{converted_pose.poseData.cartData.baseCart.position.z}\n"
    f"J1：{converted_pose.poseData.joint.j1}\n"
    f"J2：{converted_pose.poseData.joint.j2}\n"
    f"J3：{converted_pose.poseData.joint.j3}\n"
)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

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