4.7 Trajectory Control

Overview

The Trajectory module provides interfaces for offline trajectory execution and trajectory file conversion, supporting complex trajectory reproduction.

Core Features

Set and execute offline trajectory files
Move robot to trajectory start point at safe speed
Convert CSV trajectory files to .trajectory format
Query trajectory conversion status

Use Cases

Accurate reproduction of complex trajectories
Converting external trajectory data into executable robot format

4.7.1 Setting the Offline Trajectory File to Be Executed

Method Name	Trajectory.SetOffLineTrajectoryFile(string `path` )
Description	Sets the offline trajectory file to be executed.
Request Parameters	`path` : string Offline trajectory file program name (format description see remarks below)
Return Value	StatusCode: Operation execution result
Remarks	A.trajectory trajectory file format is a text file: - Line 1: 6 represents 6 axes, 0.001 represents 1ms interval between two points, 8093 represents a total of 8093 trajectory points - Line 2: Represents the initial positions of the 6 axes - Lines 3-8095: Represent trajectory points, including positions, velocities, accelerations, torque feedforward, do ports, and values of do ports for the 6 axes - do_port represents the used do port (range 1-24) - do_port is -1, indicating no IO signal will be triggered at this position - do_port is 1, do_state is 1, indicating do1 port will trigger ON signal at this position - do_port is 1, do_state is 0, indicating do1 port will trigger OFF signal at this position Users upload the offline file to the robot controller root directory using FileManager.upload, then execute the trajectory using instructions 4.7.2 and 4.7.3
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.2 Moving the Robot to the Start Point of the Offline Trajectory at a Safe Speed

Method Name	Trajectory.PrepareOfflineTrajectory()
Description	Moves the robot to the start point of the offline trajectory at a safe speed.
Request Parameters	None
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.3 Starting Execution of the Offline Trajectory File

Method Name	Trajectory.ExecuteOfflineTrajectory()
Description	Starts the execution of the offline trajectory program.
Request Parameters	None
Return Value	StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.4 Trajectory File Conversion Function

Method Name	Trajectory.TransformCsvToTrajectory(string `fileName` )
Description	Converts a trajectory CSV file into the trajectory format and saves it to the controller's trajectory file directory.
Request Parameter	`fileName` : string – name of the CSV trajectory file.
Overload Method	Trajectory.TransformCsvToTrajectory(string `fileName` , string `separator` , string `ioFlag` ) `separator` : string delimiter, supports space or comma. `ioFlag` : string IO source flag, "1" for default IO values and "2" for user-defined IO values.
Return Value	string: path of the converted trajectory file. StatusCode: result of the conversion operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.5 Querying Trajectory File Conversion Status

Method Name	Trajectory.CheckTransformStatus(string `fileName` )
Description	Queries the current status of trajectory file conversion.
Request Parameters	`fileName` : string Trajectory file path (returned by the TransformCsvToTrajectory interface)
Return Value	TransformState: Conversion state StatusCode: Operation execution result
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

Trajectory/OfflineTrajectory.cs

using System.IO;
using Agilebot.IR;
using Agilebot.IR.Trajectory;
using Agilebot.IR.Types;

public class OfflineTrajectory
{
    public static StatusCode Run(string controllerIP, bool useLocalProxy = true)
    {
        // [ZH] 初始化捷勃特机器人
        // [EN] Initialize the Agilebot robot
        Arm controller = new Arm(controllerIP, useLocalProxy);

        // [ZH] 连接捷勃特机器人
        // [EN] Connect to the Agilebot robot
        StatusCode code = controller.ConnectSync();
        Console.WriteLine(code != StatusCode.OK ? code.GetDescription() : "连接成功/Successfully connected.");

        if (code != StatusCode.OK)
        {
            return code;
        }

        try
        {
            // [ZH] 获取机器人模式
            // [EN] Get robot mode
            (UserOpMode opMode, StatusCode opCode) = controller.GetOpMode();
            if (opCode == StatusCode.OK)
            {
                Console.WriteLine($"当前机器人模式/Current robot mode: {opMode}");
                if (opMode != UserOpMode.AUTO)
                {
                    Console.WriteLine(
                        $"离线轨迹执行必须在机器人自动模式下/Offline trajectory execution must be in automatic mode"
                    );
                    return StatusCode.OtherReason;
                }
            }
            else
            {
                Console.WriteLine($"获取机器人模式失败/Failed to get robot mode: {opCode.GetDescription()}");
            }

            // [ZH] 添加程序文件到机器人中
            // [EN] Add program file to robot
            string file_user_program = GetTestFilePath("test.csv");
            StatusCode ret_code = controller.FileManager.Upload(file_user_program, FileType.TmpFile, true);
            if (ret_code != StatusCode.OK)
            {
                Console.WriteLine($"上传文件失败/Upload file failed: {ret_code.GetDescription()}");
                return ret_code;
            }
            Console.WriteLine("文件上传成功/File upload success");

            // [ZH] 测试CSV转换为轨迹文件功能
            // [EN] Test CSV to trajectory file conversion functionality
            string csvFilename = "test.csv";
            (string trajFileName, StatusCode transformCode) = controller.Trajectory.TransformCsvToTrajectory(
                csvFilename
            );

            if (transformCode != StatusCode.OK)
            {
                Console.WriteLine($"CSV转换失败/CSV conversion failed: {transformCode.GetDescription()}");
                return transformCode;
            }
            Console.WriteLine($"CSV转换成功/CSV conversion success, trajectory file: {trajFileName}");

            // [ZH] 检查转换状态
            // [EN] Check conversion status
            var startTime = System.DateTime.Now;
            TransformState state;
            StatusCode statusCode;
            do
            {
                (state, statusCode) = controller.Trajectory.CheckTransformStatus(
                    System.IO.Path.GetFileName(trajFileName)
                );
                if (statusCode != StatusCode.OK)
                {
                    Console.WriteLine($"检查转换状态失败/Check transform status failed: {statusCode.GetDescription()}");
                    return statusCode;
                }

                Console.WriteLine($"转换状态/Transform state: {state}");
                Thread.Sleep(2000); // 等待2秒

                if (System.DateTime.Now - startTime > System.TimeSpan.FromSeconds(60))
                {
                    Console.WriteLine("转换状态检查超时/Transform status check timeout");
                    break;
                }
            } while (state != TransformState.TRANSFORM_SUCCESS && state != TransformState.TRANSFORM_FAILED);

            if (state == TransformState.TRANSFORM_FAILED)
            {
                Console.WriteLine("CSV转换失败/CSV conversion failed");
                return StatusCode.OtherReason;
            }

            // [ZH] 转换任务成功并进行了结果查询后 服务端不会继续保存转换任务的状态
            // [EN] After the conversion task is successful and the result is queried, the server will not continue to save the conversion task status
            (TransformState finalState, StatusCode finalCode) = controller.Trajectory.CheckTransformStatus(
                System.IO.Path.GetFileName(trajFileName)
            );
            if (finalCode != StatusCode.OK)
            {
                Console.WriteLine($"最终状态检查失败/Final status check failed: {finalCode.GetDescription()}");
                return finalCode;
            }
            Console.WriteLine($"最终转换状态/Final transform state: {finalState}");

            // [ZH] 设置轨迹文件
            // [EN] Set trajectory file
            code = controller.Trajectory.SetOffLineTrajectoryFile("test_torque.trajectory");
            if (code != StatusCode.OK)
            {
                Console.WriteLine($"设置轨迹文件失败/Set trajectory file failed: {code.GetDescription()}");
                return code;
            }
            Console.WriteLine("设置轨迹文件成功/Set trajectory file success");

            // [ZH] 准备离线轨迹
            // [EN] Prepare offline trajectory
            code = controller.Trajectory.PrepareOfflineTrajectory();
            if (code != StatusCode.OK)
            {
                Console.WriteLine($"准备离线轨迹失败/Prepare offline trajectory failed: {code.GetDescription()}");
                return code;
            }
            Console.WriteLine("准备离线轨迹成功/Prepare offline trajectory success");

            // [ZH] 等待机器人和伺服器空闲
            // [EN] Wait for robot and servo to be idle
            startTime = System.DateTime.Now;
            RobotState robotStatus;
            ServoState servoStatus;
            StatusCode robotStatusCode;
            StatusCode servoStatusCode;

            do
            {
                (robotStatus, robotStatusCode) = controller.GetRobotState();
                if (robotStatusCode != StatusCode.OK)
                {
                    Console.WriteLine($"获取机器人状态失败/Get robot state failed: {robotStatusCode.GetDescription()}");
                    return robotStatusCode;
                }

                (servoStatus, servoStatusCode) = controller.GetServoState();
                if (servoStatusCode != StatusCode.OK)
                {
                    Console.WriteLine($"获取伺服状态失败/Get servo state failed: {servoStatusCode.GetDescription()}");
                    return servoStatusCode;
                }

                Console.WriteLine($"机器人状态/Robot state: {robotStatus}, 伺服状态/Servo state: {servoStatus}");

                if (robotStatus == RobotState.ROBOT_IDLE && servoStatus == ServoState.SERVO_IDLE)
                {
                    Console.WriteLine("机器人和伺服器已空闲/Robot and servo are idle");
                    break;
                }

                Thread.Sleep(2000); // 等待2秒

                if (System.DateTime.Now - startTime > System.TimeSpan.FromSeconds(60))
                {
                    Console.WriteLine("等待机器人和伺服器空闲超时/Waiting for robot and servo idle timeout");
                    break;
                }
            } while (true);

            // [ZH] 执行离线轨迹
            // [EN] Execute offline trajectory
            code = controller.Trajectory.ExecuteOfflineTrajectory();
            if (code == StatusCode.OK)
            {
                Console.WriteLine("执行离线轨迹成功/Execute offline trajectory success");
                Console.WriteLine("机器人开始执行轨迹程序/Robot started executing trajectory program");
            }
            else
            {
                Console.WriteLine($"执行离线轨迹失败/Execute offline trajectory failed: {code.GetDescription()}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine(
                $"执行过程中发生异常/Exception occurred during execution/Exception occurred during execution: {ex.Message}"
            );
            code = StatusCode.OtherReason;
        }
        finally
        {
            // [ZH] 关闭连接
            // [EN] Close the connection
            StatusCode disconnectCode = controller.Disconnect();
            if (disconnectCode != StatusCode.OK)
            {
                Console.WriteLine(disconnectCode.GetDescription());
                if (code == StatusCode.OK)
                    code = disconnectCode;
            }
        }

        return code;
    }

    /// <summary>
    /// 获取test_files文件夹中文件的路径示例方法
    /// 展示如何获取当前程序目录下的test_files文件夹中的文件路径
    /// </summary>
    private static string GetTestFilePath(string fileName)
    {
        // 获取当前程序集的目录
        string? codeFilePath = new System.Diagnostics.StackTrace(true).GetFrame(0)?.GetFileName();
        if (string.IsNullOrEmpty(codeFilePath))
        {
            throw new InvalidOperationException("无法获取当前文件路径/Cannot get current file path");
        }

        string? codeDirectory = Path.GetDirectoryName(codeFilePath);
        if (string.IsNullOrEmpty(codeDirectory))
        {
            throw new InvalidOperationException("无法获取当前目录路径/Cannot get current directory path");
        }

        // 构建test_files文件夹路径
        string testFilesDirectory = Path.Combine(codeDirectory, "test_files");
        // 构建文件完整路径
        string filePath = Path.Combine(testFilesDirectory, fileName);
        return filePath;
    }
}

4.7.6 Start Trajectory Recording

Method Name	Trajectory.TrajectoryRecordBegin(string `name` )
Description	Starts trajectory recording for the trajectory replay feature.
Request Parameters	`name` : string trajectory program name.
Return Value	StatusCode: execution result of starting recording.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.7 Finish Trajectory Recording

Method Name	Trajectory.TrajectoryRecordFinish(string `name` )
Description	Finishes trajectory recording for the trajectory replay feature.
Request Parameters	`name` : string trajectory program name.
Return Value	StatusCode: execution result of finishing recording.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.8 Start Trajectory Replay

Method Name	Trajectory.TrajectoryReplayStart(string `name` )
Description	Starts replaying the specified trajectory.
Request Parameters	`name` : string trajectory program name.
Return Value	StatusCode: execution result of starting replay.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.9 Stop Trajectory Replay

Method Name	Trajectory.TrajectoryReplayStop(string `name` )
Description	Stops replaying the specified trajectory.
Request Parameters	`name` : string trajectory program name.
Return Value	StatusCode: execution result of stopping replay.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.10 Delete Trajectory

Method Name	Trajectory.TrajectoryRecordDelete(string `name` )
Description	Deletes the specified trajectory.
Request Parameters	`name` : string trajectory program name.
Return Value	StatusCode: execution result of delete operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.11 Get Trajectory List

Method Name	Trajectory.GetTrajectoryRecordList()
Description	Gets the list of currently recorded trajectory names.
Request Parameters	None
Return Value	List<string>: trajectory name list. StatusCode: execution result of query operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.12 Get Trajectory Start Pose

Method Name	Trajectory.GetTrajectoryRecordStartPose(string `name` )
Description	Gets the start pose of the specified recorded trajectory.
Request Parameters	`name` : string trajectory program name.
Return Value	MotionPose: trajectory start pose. StatusCode: execution result of query operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.13 Start Recording Trajectory Table/Path Table

Method Name	Trajectory.PathRecordBegin(string `name` , string `comment` , double `param` , double `angle` = 1)
Description	Starts recording a trajectory table ( `.traj` ) or path table ( `.path` ).
Request Parameters	`name` : string trajectory/path table file name, must end with `.path` or `.traj` . `comment` : string description. `param` : double recording parameter ( `.path` : distance threshold, must be >=0.5; `.traj` : recording interval, must be >=2). `angle` : double rotational threshold for path table ( `.path` only), must be >=1.
Return Value	StatusCode: execution result of starting recording.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7.14 Finish Recording Trajectory Table/Path Table

Method Name	Trajectory.PathRecordFinish()
Description	Finishes current trajectory table/path table recording.
Request Parameters	None
Return Value	StatusCode: execution result of finishing recording.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7.15 Get Trajectory Table/Path Table Start Pose

Method Name	Trajectory.GetPathStartPose(string `name` )
Description	Gets the start pose of the specified trajectory table/path table.
Request Parameters	`name` : string trajectory/path table name.
Return Value	MotionPose: start pose. StatusCode: execution result of query operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7.16 Get Trajectory Table/Path Table State

Method Name	Trajectory.GetPathState(List<string> `pathList` )
Description	Batch-queries current recording state of trajectory/path tables.
Request Parameters	`pathList` : List<string> trajectory/path table names.
Return Value	Dictionary<string, MotionTableState>: file-name to state mapping. StatusCode: execution result of query operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7.17 Set Path Planner Parameters

Method Name	Trajectory.SetPathPlannerParameter(double `transitionTime` , double `scalingFactor` )
Description	Sets path-planner parameters to affect transition and smoothness.
Request Parameters	`transitionTime` : double Start/stop transition time, must be >=0.2. Smaller values mean faster acceleration/deceleration, minimum 0.2. `scalingFactor` : double Scaling factor, range [0,1]. =0, the robot will pass through each path point at constant time, prioritizing time interval between points. =1, strict scaling, the robot passes through each path point at constant linear velocity, prioritizing constant speed through each point. Between 0~1 is a compromise behavior.
Return Value	StatusCode: execution result of set operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7.18 Get Path Planner Parameters

Method Name	Trajectory.GetPathPlannerParameter()
Description	Gets current path-planner parameters.
Request Parameters	None
Return Value	double: `transitionTime` Start/stop transition time. Smaller values mean faster acceleration/deceleration, minimum 0.2. double: `scalingFactor` Scaling factor. =0, constant time through each path point. =1, constant linear velocity through each path point. 0~1 is compromise behavior. StatusCode: execution result of query operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): Not supported

4.7.19 Move Along Trajectory Table/Path Table

Method Name	Trajectory.MovePath(string `name` , double `vel` = 100, double `acc` = 1)
Description	Moves robot TCP along the specified trajectory/path table.
Request Parameters	`name` : string trajectory/path table name. `vel` : double speed, range [0,5000] (mm/s). `acc` : double acceleration factor, range [0,1.2].
Return Value	StatusCode: execution result of move operation.
Compatible Robot Software Versions	Collaborative (Copper): v7.7.I.0+ Industrial (Bronze): Not supported

4.7 Trajectory Control ​

Overview ​

Core Features ​

Use Cases ​

4.7.1 Setting the Offline Trajectory File to Be Executed ​

4.7.2 Moving the Robot to the Start Point of the Offline Trajectory at a Safe Speed ​

4.7.3 Starting Execution of the Offline Trajectory File ​

4.7.4 Trajectory File Conversion Function ​

4.7.5 Querying Trajectory File Conversion Status ​

Example Code ​

4.7.6 Start Trajectory Recording ​

4.7.7 Finish Trajectory Recording ​

4.7.8 Start Trajectory Replay ​

4.7.9 Stop Trajectory Replay ​

4.7.10 Delete Trajectory ​

4.7.11 Get Trajectory List ​

4.7.12 Get Trajectory Start Pose ​

4.7.13 Start Recording Trajectory Table/Path Table ​

4.7.14 Finish Recording Trajectory Table/Path Table ​

4.7.15 Get Trajectory Table/Path Table Start Pose ​

4.7.16 Get Trajectory Table/Path Table State ​

4.7.17 Set Path Planner Parameters ​

4.7.18 Get Path Planner Parameters ​

4.7.19 Move Along Trajectory Table/Path Table ​

4.7 Trajectory Control

Overview

Core Features

Use Cases

4.7.1 Setting the Offline Trajectory File to Be Executed

4.7.2 Moving the Robot to the Start Point of the Offline Trajectory at a Safe Speed

4.7.3 Starting Execution of the Offline Trajectory File

4.7.4 Trajectory File Conversion Function

4.7.5 Querying Trajectory File Conversion Status

Example Code

4.7.6 Start Trajectory Recording

4.7.7 Finish Trajectory Recording

4.7.8 Start Trajectory Replay

4.7.9 Stop Trajectory Replay

4.7.10 Delete Trajectory

4.7.11 Get Trajectory List

4.7.12 Get Trajectory Start Pose

4.7.13 Start Recording Trajectory Table/Path Table

4.7.14 Finish Recording Trajectory Table/Path Table

4.7.15 Get Trajectory Table/Path Table Start Pose

4.7.16 Get Trajectory Table/Path Table State

4.7.17 Set Path Planner Parameters

4.7.18 Get Path Planner Parameters

4.7.19 Move Along Trajectory Table/Path Table