johnwason · September 3, 2025 05:40
diff --git a/README.md b/README.md
diff --git a/robot_jog.m b/robot_jog.m
 % Example controlling standard robot using jog mode

 % URL for connecting to the robot. By default connects to UR5e simulated robot.
 url = 'rr+tcp://10.42.0.1:52511?service=robot';

 % Connect to the robot driver
 c = RobotRaconteur.ConnectService(url);

 % Retrieve the current robot state and print the current command mode
 robot_state = c.robot_state.PeekInValue();
 disp(robot_state.command_mode);

 % Change the robot command mode, first to halt, then to jog
 c.command_mode = int32(0);
 pause(0.1)
 c.command_mode = int32(1);

 % Get the starting joint positions
 robot_state = c.robot_state.PeekInValue();
 start_joint_pos = robot_state.joint_position;

 start_time = tic;

 % Move the robot in a loop
 for i=1:100
    t = toc(start_time);

    % Generate a sin wave
    c.jog_freespace(0.2 * [1, 0, 0, 0, 0, 0]' * sin(t / 5) + start_joint_pos, ones(6,1), true);

    % Print the current robot_state_flags
    robot_state = c.robot_state.PeekInValue();
    disp(robot_state.robot_state_flags);

    % Wait for the next loop iteration
    pause(0.1);
 end

 % Disconnect the client. Client connections will be closed on Matlab exit
 % but will not be automatically closed otherwise.
 RobotRaconteur.DisconnectService(c);
diff --git a/robot_jog.py b/robot_jog.py
 ##
 # Command the robot using the jog_freespace function
 #

 from RobotRaconteur.Client import *
 import time
 import numpy as np
 import sys

 # URL for connecting to the robot. By default connects to UR5e simulated robot.
 url = 'rr+tcp://10.42.0.1:52511?service=robot'

 # Connect to the robot driver
 c = RRN.ConnectService(url)

 # Retrieve the current robot state and print the current command mode
 print(c.robot_state.PeekInValue()[0].command_mode)

 # Retrieve the constants for the com.robotraconteur.robotics.robot service definition
 robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", c)

 # Retrieve the "halt" and "jog" enum values
 halt_mode = robot_const["RobotCommandMode"]["halt"]
 jog_mode = robot_const["RobotCommandMode"]["jog"]

 # Change the robot command mode, first to halt, then to jog
 c.command_mode = halt_mode
 time.sleep(0.1)
 c.command_mode = jog_mode


 # Get the starting joint positions
 robot_state = c.robot_state.PeekInValue()[0]
 start_joint_pos = robot_state.joint_position

 t_start = time.time()

 # Move the robot in an endless loop
 while (True):
    t = time.time() - t_start

    # Generate a sin wave
    c.jog_freespace(0.2 * np.array([1, 0, 0, 0, 0, 0]) * np.sin(t / 5) + start_joint_pos, np.ones((6,)), True)

    # Print the current robot_state_flags
    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))

    # Wait for the next loop iteration
    time.sleep(0.1)
diff --git a/robot_trajectory.m b/robot_trajectory.m
 % Example controlling standard robot using trajectory mode

 robot_type = 'ur'; % Change to abb for ABB robot joint position

 % URL for connecting to the robot. By default connects to UR5e simulated robot.
 url = 'rr+tcp://10.42.0.1:52511?service=robot';

 % Connect to the robot driver
 c = RobotRaconteur.ConnectService(url);

 % Get the robot_info data from the driver
 robot_info = c.robot_info;

 % Get the joint names from the robot_info data structure
 joint_names = {};
 for i=1:size(robot_info.joint_info)
    joint_names{end+1,1} = robot_info.joint_info{i}.joint_identifier.name;
 end

 % Retrieve the current robot state and print the current command mode
 robot_state = c.robot_state.PeekInValue();
 disp(robot_state.command_mode);

 % Change the robot command mode, first to halt, then to jog
 c.command_mode = int32(0);
 pause(0.1)
 c.command_mode = int32(2);

 % Get the starting joint positions
 robot_state = c.robot_state.PeekInValue();
 j_start = robot_state.joint_position;

 % Build up JointTrajectoryWaypoint(s) to move the robot to specified joint angles
 waypoints = {};

 if strcmp(robot_type, 'abb')
    j_end = [0, -0.1, 0.25, 0, 0, 0]';
 elseif strcmp(robot_type, 'ur')
    j_end = [0, -1, -1.5, 0, 0, 0]';
 else
    error('Invalid robot type');
 end

 for i=0:250
    wp=struct;
    wp.joint_position = (j_end - j_start) * (i / 250.0) + j_start;
    wp.joint_velocity = [];
    wp.position_tolerance = [];
    wp.velocity_tolerance = [];
    wp.interpolation_mode = int32(0);
    wp.waypoint_type = int32(0);
    wp.time_from_start = i / 25.0;
    waypoints{end+1,1} = wp;
 end

 % Fill in the JointTrajectory structure
 traj=RobotRaconteur.CreateStructure(c, 'com.robotraconteur.robotics.trajectory.JointTrajectory');
 traj.joint_names = joint_names;
 traj.waypoints = waypoints;

 c.speed_ratio = 1.0;

 % Execute the trajectory function to get the generator object
 traj_gen = c.execute_trajectory(traj);

 % Loop to monitor the motion

 while true

    try_next_res = traj_gen.TryNext();
    res = try_next_res{1};
    trajectory_status = try_next_res{2};
    if ~res
        break
    end

    robot_state = c.robot_state.PeekInValue();
    disp(robot_state.robot_state_flags);
 end

 RobotRaconteur.DisconnectService(c);
diff --git a/robot_trajectory.py b/robot_trajectory.py
 from RobotRaconteur.Client import *
 import time
 import numpy as np
 import sys

 # URL for connecting to the robot. By default connects to UR5e simulated robot.
 url = 'rr+tcp://10.42.0.1:52511?service=robot'

 # Connect to the robot
 c = RRN.ConnectService(url)

 # Get the robot_info data from the driver
 robot_info = c.robot_info

 # Get the joint names from the robot_info data structure
 joint_names = [j.joint_identifier.name for j in robot_info.joint_info]

 # Retrieve the current robot state and print the current command mode
 print(c.robot_state.PeekInValue()[0].command_mode)

 # Retrieve the constants for the com.robotraconteur.robotics.robot service definition
 robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", c)

 # Retrieve the "halt" and "trajectory" enum values
 halt_mode = robot_const["RobotCommandMode"]["halt"]
 trajectory_mode = robot_const["RobotCommandMode"]["trajectory"]

 # Retreive the structure type to create JointTrajectory and JointTrajectoryWaypoint objects
 JointTrajectoryWaypoint = RRN.GetStructureType("com.robotraconteur.robotics.trajectory.JointTrajectoryWaypoint", c)
 JointTrajectory = RRN.GetStructureType("com.robotraconteur.robotics.trajectory.JointTrajectory", c)

 # Change the robot command mode, first to halt, then to trajectory mode
 c.command_mode = halt_mode
 time.sleep(0.1)
 c.command_mode = trajectory_mode

 # Connect to the robot_state wire to get real-time streaming state data
 state_w = c.robot_state.Connect()

 # Wait for the state_w wire to receive valid data
 state_w.WaitInValueValid()
 state1 = state_w.InValue


 # Build up JointTrajectoryWaypoint(s) to move the robot to specified joint angles
 waypoints = []

 j_start = state1.joint_position
 if sys.argv[1] == 'abb':
    j_end = [0, -0.1, 0.25, 0, 0, 0]
 elif sys.argv[1] == 'ur':
    j_end = [0, -1, -1.5, 0, 0, 0]
 else:
    raise ValueError('Invalid robot type')

 for i in range(251):
    wp = JointTrajectoryWaypoint()
    wp.joint_position = (j_end - j_start) * (float(i) / 250.0) + j_start
    wp.time_from_start = i / 25.0
    waypoints.append(wp)

 # Fill in the JointTrajectory structure
 traj = JointTrajectory()
 traj.joint_names = joint_names
 traj.waypoints = waypoints

 c.speed_ratio = 1

 # Execute the trajectory function to get the generator object
 traj_gen = c.execute_trajectory(traj)

 # Loop to monitor the motion
 while (True):
    t = time.time()

    # Check the state
    robot_state = state_w.InValue

    res, gen_state = traj_gen.TryNext()
    if not res:
        # Break if the trajectory is complete
        break
    print(gen_state)

    print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))
	% Example controlling standard robot using jog mode

	% URL for connecting to the robot. By default connects to UR5e simulated robot.
	url = 'rr+tcp://10.42.0.1:52511?service=robot';

	% Connect to the robot driver
	c = RobotRaconteur.ConnectService(url);

	% Retrieve the current robot state and print the current command mode
	robot_state = c.robot_state.PeekInValue();
	disp(robot_state.command_mode);

	% Change the robot command mode, first to halt, then to jog
	c.command_mode = int32(0);
	pause(0.1)
	c.command_mode = int32(1);

	% Get the starting joint positions
	robot_state = c.robot_state.PeekInValue();
	start_joint_pos = robot_state.joint_position;

	start_time = tic;

	% Move the robot in a loop
	for i=1:100
	t = toc(start_time);

	% Generate a sin wave
	c.jog_freespace(0.2 * [1, 0, 0, 0, 0, 0]' * sin(t / 5) + start_joint_pos, ones(6,1), true);

	% Print the current robot_state_flags
	robot_state = c.robot_state.PeekInValue();
	disp(robot_state.robot_state_flags);

	% Wait for the next loop iteration
	pause(0.1);
	end

	% Disconnect the client. Client connections will be closed on Matlab exit
	% but will not be automatically closed otherwise.
	RobotRaconteur.DisconnectService(c);
	##
	# Command the robot using the jog_freespace function
	#

	from RobotRaconteur.Client import *
	import time
	import numpy as np
	import sys

	# URL for connecting to the robot. By default connects to UR5e simulated robot.
	url = 'rr+tcp://10.42.0.1:52511?service=robot'

	# Connect to the robot driver
	c = RRN.ConnectService(url)

	# Retrieve the current robot state and print the current command mode
	print(c.robot_state.PeekInValue()[0].command_mode)

	# Retrieve the constants for the com.robotraconteur.robotics.robot service definition
	robot_const = RRN.GetConstants("com.robotraconteur.robotics.robot", c)

	# Retrieve the "halt" and "jog" enum values
	halt_mode = robot_const["RobotCommandMode"]["halt"]
	jog_mode = robot_const["RobotCommandMode"]["jog"]

	# Change the robot command mode, first to halt, then to jog
	c.command_mode = halt_mode
	time.sleep(0.1)
	c.command_mode = jog_mode


	# Get the starting joint positions
	robot_state = c.robot_state.PeekInValue()[0]
	start_joint_pos = robot_state.joint_position

	t_start = time.time()

	# Move the robot in an endless loop
	while (True):
	t = time.time() - t_start

	# Generate a sin wave
	c.jog_freespace(0.2 * np.array([1, 0, 0, 0, 0, 0]) * np.sin(t / 5) + start_joint_pos, np.ones((6,)), True)

	# Print the current robot_state_flags
	print(hex(c.robot_state.PeekInValue()[0].robot_state_flags))

	# Wait for the next loop iteration
	time.sleep(0.1)
	% Example controlling standard robot using trajectory mode

	robot_type = 'ur'; % Change to abb for ABB robot joint position

	% URL for connecting to the robot. By default connects to UR5e simulated robot.
	url = 'rr+tcp://10.42.0.1:52511?service=robot';

	% Connect to the robot driver
	c = RobotRaconteur.ConnectService(url);

	% Get the robot_info data from the driver
	robot_info = c.robot_info;

	% Get the joint names from the robot_info data structure
	joint_names = {};
	for i=1:size(robot_info.joint_info)
	joint_names{end+1,1} = robot_info.joint_info{i}.joint_identifier.name;
	end

	% Retrieve the current robot state and print the current command mode
	robot_state = c.robot_state.PeekInValue();
	disp(robot_state.command_mode);

	% Change the robot command mode, first to halt, then to jog
	c.command_mode = int32(0);
	pause(0.1)
	c.command_mode = int32(2);

	% Get the starting joint positions
	robot_state = c.robot_state.PeekInValue();
	j_start = robot_state.joint_position;

	% Build up JointTrajectoryWaypoint(s) to move the robot to specified joint angles
	waypoints = {};

	if strcmp(robot_type, 'abb')
	j_end = [0, -0.1, 0.25, 0, 0, 0]';
	elseif strcmp(robot_type, 'ur')
	j_end = [0, -1, -1.5, 0, 0, 0]';
	else
	error('Invalid robot type');
	end

	for i=0:250
	wp=struct;
	wp.joint_position = (j_end - j_start) * (i / 250.0) + j_start;
	wp.joint_velocity = [];
	wp.position_tolerance = [];
	wp.velocity_tolerance = [];
	wp.interpolation_mode = int32(0);
	wp.waypoint_type = int32(0);
	wp.time_from_start = i / 25.0;
	waypoints{end+1,1} = wp;
	end

	% Fill in the JointTrajectory structure
	traj=RobotRaconteur.CreateStructure(c, 'com.robotraconteur.robotics.trajectory.JointTrajectory');
	traj.joint_names = joint_names;
	traj.waypoints = waypoints;

	c.speed_ratio = 1.0;

	% Execute the trajectory function to get the generator object
	traj_gen = c.execute_trajectory(traj);

	% Loop to monitor the motion

	while true

	try_next_res = traj_gen.TryNext();
	res = try_next_res{1};
	trajectory_status = try_next_res{2};
	if ~res
	break
	end

	robot_state = c.robot_state.PeekInValue();
	disp(robot_state.robot_state_flags);
	end

	RobotRaconteur.DisconnectService(c);