GRID Docs | General Robotics

The Universal Robots UR3e Arm as GRID drives it — what this robot actually implements, with the signatures it actually accepts. make_robot("<name>") returns a RemoteRobot. Its attributes are the methods and subcomponents below, and every call runs on the robot; the driver behind it is UR3e. Connecting neither starts nor moves the robot — it attaches to one that is already up. A method that fails on the robot arrives as RuntimeError naming the original error in its message. The client packages this page uses are preinstalled in every GRID session workspace and in the Python environment the GRID CLI prepares when you run a program with skill run; there is nothing to install.

from grid_nexus_client import make_robot

robot = make_robot("<ur3e-name>")

Methods on the robot

Called as robot.<method>(...).

`addNamedPose()`

Signature

addNamedPose(pose_name: str, joint_angles: List[float]) -> None

Define a pose_name:joint_angles pair in the dictionary of named poses (overriding any existing pair).

required

Name of the pose to define

required

List of joint angles in radians

Raises: ValueError: If the length of joint_angles list does match the length of other named poses

`endFreeDrive()`

Signature

endFreeDrive() -> None

Exit free-drive mode and return to position control. The arm is no longer movable by hand and again responds to position-control commands such as moveToPose and setJointAngles. Raises: RuntimeError: If the robot is in read only mode or the controller rejects the end-teach-mode request.

`followJointTrajectory()`

Signature

followJointTrajectory(
    angles: List[List[float]],
    duration: Union[float, List[float]],
    blocking: bool = True,
) -> None

Move the arm through a sequence of joint configurations. Each waypoint in angles is visited in order. The arm briefly stops at every intermediate waypoint — this implementation is a per-segment loop over setJointAngles, not a blended trajectory.

required

Sequence of joint configurations (radians) to visit in order. Each inner list must have 6 elements (one per UR joint).

required

Either a single positive float giving the total trajectory time in seconds (split evenly across segments), or a list of positive floats with the same length as angles giving the duration of each segment from the previous pose to angles[i].

default:"True"

Wait for the final segment to complete before returning. Intermediate segments are always blocking. Defaults to True.

Raises: ValueError: If angles is empty, duration is not positive, or list-form duration length does not match angles. RuntimeError: If the robot is in read only mode or any segment command is rejected.

`getEndEffectorForce()`

Signature

getEndEffectorForce() -> np.ndarray

Get the current end effector force (x, y, z, rx, ry, rz)

`getEndEffectorPose()`

Signature

getEndEffectorPose() -> Pose

[Deprecated]
Get the current end effector pose (position + orientation) w.r.t. the base frame.

`getEndEffectorPosition()`

Signature

getEndEffectorPosition(*, normalized: bool = True) -> float

Return the continuous end-effector position.

default:"True"

If True, return the position normalized against the auto-calibrated travel range. If False, return the raw Robotiq encoder value on its fixed 0-255 scale. Defaults to True.

Returns:

Current position. With ``normalized=True``, the inclusive range is
[0.0, 1.0], where 0.0 is fully open and 1.0 is fully closed. With
``normalized=False``, the value is the raw encoder reading in
[0.0, 255.0].

Raises: RuntimeError: If no end effector is configured or the configured end effector is not a Robotiq gripper with continuous-position feedback.

`getImage()`

Signature

getImage(camera_name: str = '', **kwargs) -> Image

Return the image of camera. Which camera a no-argument call reads is decided by cardinality alone — no robot, config, or class declares a default. A robot with exactly one camera needs no name; a robot with several requires one, so adding a second camera never silently changes which one a bare getImage() returns.

str

default:"''"

Name of the camera to get image from — either a directly attached camera’s name or a /-separated path through subcomponents to a nested one (left_arm/wrist). May be omitted when the robot has exactly one camera.

Forwarded to the underlying sensor’s getImage. Lets callers pass camera-specific options (e.g. image_type="depth", compressed=False) without the base class having to enumerate them.

Returns: Image: The captured image. Raises: RuntimeError: If no cameras are configured, or the name is omitted on a robot with more than one camera; the message lists every configured camera path. KeyError: If camera_name is given but names no camera on this robot.

`getInverseKinematics()`

Signature

getInverseKinematics(
    position: Position,
    orientation: Orientation,
    qnear: Optional[List[float]] = None,
) -> List[float]

Solve inverse kinematics for a target end-effector pose (base frame). Maps a Cartesian tool pose to the 6 joint angles that reach it. Used to recover the joint-space command behind a Cartesian moveToPose(high_frequency=True) stream (e.g. labelling a VR teleop takeover for DAgger).

required

Target tool position in meters, in the robot base frame.

required

Target tool orientation, in the robot base frame.

Joint positions (radians) used to disambiguate the solution; the IK closest to qnear is returned (pass the current joints to avoid elbow/wrist flips). When None, the controller uses the current joint positions.

Returns: The 6 joint angles in radians that reach the pose. Raises: RuntimeError: If the robot is in read-only mode (the control interface needed to solve IK is not connected).

`getJointAngles()`

Signature

getJointAngles() -> list

Get a list of the 6 current joint angles in radians Returns: list: List of current joint angles in radians

`getJointTorques()`

Signature

getJointTorques() -> list

Get a list of the 6 current joint torques in Newtons meters

`getJointVelocities()`

Signature

getJointVelocities() -> list

Get a list of the 6 current joint velocities in radians/second Returns: list: List of current joint velocities in radians/second

`getLidarPointCloud()`

Signature

getLidarPointCloud(lidar_name: str = '') -> Optional[PointCloud]

Get a point cloud from the named LiDAR sensor.

str

default:"''"

Name of the lidar. If empty, uses the first available lidar.

Returns: Optional[PointCloud]: The point cloud, or None if lidar not found

`getNamedPose()`

Signature

getNamedPose(pose_name: str) -> Optional[List[float]]

Get the list of joint angles corresponding to a named pose.

required

Name of the pose to get (case-insensitive)

Returns: list: Joint angles (radians) of the named pose, or None if the named pose does not exist

`getObs()`

Signature

getObs(
    get_proprioception: bool = True,
    get_camera: bool = True,
    proprioception_items: Optional[List[str]] = None,
    normalize_gripper: bool = True,
) -> Dict

Get the current observation from the arm.

bool

default:"True"

If True, include robot state (joint positions, velocities, end-effector pose, force, torques, gripper). Defaults to True.

bool

default:"True"

If True, include RGB images from all attached cameras. Defaults to True.

Optional[List[str]]

List of proprioception field names to include. If None, all available fields are returned.

bool

default:"True"

If True, normalize gripper position to [0, 1]. Defaults to True.

Returns:

Dict: Observation dictionary. Proprioception keys (when get_proprioception=True):
    - "joint_positions" (List[float]): Joint angles in radians.
    - "joint_velocities" (List[float]): Joint velocities in rad/s.
    - "end_effector_pose" (Pose): End-effector pose w.r.t. the base frame.
    - "end_effector_force" (List[float]): 6-element wrench
      [fx, fy, fz, tx, ty, tz] (N / N·m).
    - "joint_torques" (List[float]): Joint torques in N·m
      (only when read_only=False).
    - "gripper_pos" (float): Gripper position. Normalized to [0, 1] when
      normalize_gripper=True (0=open, 1=closed); raw hardware position otherwise. Only
      present when an end effector is attached.
    - "gripper_state": Gripper open/closed state. Only present when an end
      effector is attached.
    - "robot_mode" (int): UR robot mode (e.g. 7 = Running).
    Camera keys (when get_camera=True): "{camera_name}" for each camera.

Raises: KeyError: If a requested proprioception key is not registered on this robot.

`getOrientation()`

Signature

getOrientation(name: str = '') -> Orientation

Get the current end effector orientation with respect to the robot base Returns: Orientation: Current end effector orientation with respect to the robot base name (str, optional): Unused

`getPose()`

Signature

getPose() -> Pose

Get the current end effector pose with respect to the base frame. Returns: Pose: Current end effector position and orientation

`getPosition()`

Signature

getPosition() -> Position

Get the current end effector position with respect to the robot base (meters) Returns: Position: Current end effector position with respect to the robot base

`getState()`

Signature

getState(keys: Optional[Union[str, List[str]]] = None) -> Dict[str, Any]

Get a live state snapshot of this component’s tree. Recursive walk owned by the base class, following the lifecycle template: each class contributes only the protected local hook _local_state, and the walk composes the per-component results into one nested mapping. Subclasses must not replace this method — per-component state belongs in _local_state. With no keys, returns this component’s local state merged with one nested node per subcomponent name — the tree structure is the nesting itself, and the names mirror subcomponents (and therefore serialize() and edge introspection): a two-arm rig returns {"left_arm": {"joint_positions": ...}, "right_arm": {...}}, and a leaf component returns its local state alone. A component whose state could not be read (dead telemetry, not yet started, already shut down) carries an "error" entry — {"error": "<ExceptionType>: <message>"}, with its children still nested alongside — instead of its state keys. Errors are contained per node: one failing component never loses the rest of the snapshot, and the walk still descends into the failing component’s children. "error" is reserved for that purpose, and local state keys must not collide with subcomponent names; a hook violating either is reported as that node’s error. With keys, returns a flat mapping with one entry per match. Each key is a /-separated path through the component tree: every segment names a subcomponent, and the final segment may instead name an entry in that component’s local state. Because structure is the nesting, a literal path is the same as plain indexing — getState(["left_arm/joint_positions"]) returns the value of getState()["left_arm"]["joint_positions"] — and a path ending on a subcomponent yields that component’s full nested node. Segments may use shell-style wildcards over subcomponent names — * matches within one chunk and ** matches any chain of chunks — so "*_arm/joint_positions" fans out to one entry per arm, keyed by the concrete matched path. Wildcards never match state entries; only a literal final segment does. A key that matches nothing raises, so a typo is loud rather than silently absent. A matched component whose state read failed yields {"error": "..."} at its path. Keyed reads are lazy: a hook runs only where a key lands — a literal path executes the final component’s hook alone (not the nodes traversed on the way), a glob executes only the matched nodes, and each component’s hook runs at most once per call however many keys reach it. Components with a selective-read hook (_local_state_entries — every Robot with registered state getters) go further and execute only the getters a key names, so a ** glob probes their registries without touching hardware. The caller pays only for the state actually requested; ** and the no-keys form visit the whole tree because that is the request. State is cheap by convention: local state carries kinematics, status, and health — never bulk sensor payloads (camera frames, point clouds, scans), which stay in their dedicated methods (getImage, getPointCloud, …). Callable on a stopped tree — reading state after a soft e-stop is when it matters most — and on a partially started one, where unstarted components report a per-node error instead of failing the call.

State paths to read, or None for the full nested snapshot. A single string is shorthand for a one-element list.

Returns: The nested state snapshot when keys is None, otherwise a flat mapping of matched path to state value or nested node. Raises: TypeError: If keys is neither None, a string, nor a list/tuple of strings. ValueError: If a key is empty, has an empty path segment, or matches no subcomponent path or state entry.

`get_payload()`

Signature

get_payload() -> Tuple[float, List[float]]

Get the payload currently configured on the controller. Returns: A (mass, cog) tuple — mass in kilograms and center of gravity [x, y, z] in meters, displaced from the tool mount in the flange frame. Reflects whatever was last set, whether from the pendant installation screen or set_payload.

`grasp()`

Signature

grasp(
    suction: bool = False,
    *,
    approach_distance: float = 0.03,
    approach_time: float = 2.0,
) -> None

Close the gripper to grasp an object. With suction=False (the default) the end effector is closed in place. With suction=True the arm advances approach_distance meters along the gripper’s z-axis (the direction the gripper points), engages the end effector, then retracts to the joint configuration it was in before the call. Use suction=True for end effectors that need light contact with a target before sealing. Sets ee_state to CLOSED on success.

default:"False"

If True, perform a short approach-then-engage-then-retract motion instead of engaging in place. Defaults to False.

default:"0.03"

Distance to advance along the gripper z-axis when suction=True (meters). Defaults to 0.03.

default:"2.0"

Total duration of the approach move when suction=True (seconds). Defaults to 2.0.

Raises: RuntimeError: If the robot is in read only mode or no end effector is configured.

`moveToDeltaPose()`

Signature

moveToDeltaPose(delta_pose: Pose, blocking: bool = True) -> None

Offset the robot end effector by the specified delta pose from its current pose (with respect to the base frame).

required

Pose offset to compose with the current pose. The position is added to the current position and the orientation is composed with the current orientation.

default:"True"

Wait for movement to complete. Defaults to True.

`moveToHome()`

Signature

moveToHome(
    blocking: bool = True,
    *,
    moving_time: float = 2.0,
    accel_time: float = 0.75,
) -> None

Move the robot to its predefined home pose.

default:"True"

Wait for movement to complete. Defaults to True.

default:"2.0"

Total duration of the move (seconds). Defaults to 2.0.

default:"0.75"

Time spent accelerating and decelerating (seconds). Clamped to at most moving_time / 2. Defaults to 0.75.

Raises: RuntimeError: If the robot is in read only mode.

`moveToNamedPose()`

Signature

moveToNamedPose(
    pose_name: str,
    blocking: bool = True,
    *,
    moving_time: float = 2.0,
    accel_time: float = 0.75,
) -> None

Move the arm to the joint angles of a named pose.

required

Name of the pose to move to (case-insensitive).

default:"True"

Wait for movement to complete. Defaults to True.

default:"2.0"

Total duration of the move (seconds). Defaults to 2.0.

default:"0.75"

Time spent accelerating and decelerating (seconds). Clamped to at most moving_time / 2. Defaults to 0.75.

Raises: ValueError: If pose_name is not in named_poses.

`moveToPose()`

Signature

moveToPose(
    pose: Pose,
    blocking: bool = True,
    *,
    high_frequency: bool = False,
    moving_time: float = 2.0,
    accel_time: float = 0.5,
    avoid_force: bool = False,
    stop_acceleration: float = 5,
    force_threshold: float = 10,
    step_time: float = 0.1,
    lookahead_time: float = 0.03,
    gain: float = 300.0,
) -> None

Move the robot end effector to a specified pose with respect to the base frame. Set high_frequency=False (the default) for a normal point-to-point move that takes moving_time seconds end-to-end. Set high_frequency=True to stream a single setpoint from a real-time control loop (e.g. ~500 Hz) — each call commands one short step of duration step_time and returns immediately, letting the arm follow a stream of closely-spaced setpoints. Parameters that apply only to the other mode are silently ignored (each is annotated below). When avoid_force=True the arm stops and raises grid_types.ForceThresholdExceeded if the end-effector force or torque rises above the configured thresholds.

required

Target pose (position in meters, orientation as a unit quaternion) in the robot’s base frame.

default:"True"

Wait for the move to complete. Ignored when high_frequency=True (those calls always return immediately). Defaults to True.

default:"False"

Select between a normal point-to-point move (False) and a single streaming control step (True). Defaults to False.

default:"2.0"

Total duration of the move (seconds). Used only when high_frequency=False. Defaults to 2.0.

default:"0.5"

Time spent accelerating and decelerating (seconds). Clamped to at most moving_time / 2. Used only when high_frequency=False. Defaults to 0.5.

default:"False"

If True, stop and raise RuntimeError when the end-effector force or torque rises above the configured thresholds. Requires blocking=False: force monitoring runs the move asynchronously, so it cannot also block. Defaults to False.

default:"5"

Deceleration (m/s^2) used when stopping on a force/torque trigger. Used only when high_frequency=False. Defaults to 5.0.

default:"10"

Force (N) above the pre-move baseline that triggers a stop. Used only when high_frequency=False. Defaults to 10.0.

default:"0.1"

Duration of one high-frequency step (seconds). Used only when high_frequency=True. Defaults to 0.1.

default:"0.03"

Smoothing horizon for the high-frequency tracking controller (seconds). Larger values smooth the trajectory at the cost of responsiveness. Clamped to [0.03, 0.2]. Used only when high_frequency=True. Defaults to 0.03.

default:"300.0"

Proportional gain of the high-frequency tracking controller. Lower values give faster reaction; higher values reduce overshoot but may cause jerkiness or oscillation. Clamped to [100, 2000]. Used only when high_frequency=True. Defaults to 300.0.

Raises: ValueError: If moving_time, accel_time, or step_time are not positive numbers, or if avoid_force=True is combined with blocking=True. RuntimeError: If the robot is in read only mode, the move command is rejected, avoid_force=True and the end-effector force/torque exceeds the configured thresholds, or a compliant servo overlay is active — pose targets cannot be routed into it (stop it with stopCompliantServo() first).

`network_addresses()`

Signature

network_addresses(args: dict) -> List[str]

Controller addresses a routing check should verify for these args.

required

Config args for this robot, as the wizard collected them.

Returns: The controller address, or none when no address is configured.

`release()`

Signature

release()

Open the gripper to release an object. Only works if an end effector is configured. Changes ee_state to OPEN. Raises: RuntimeError: If the robot is in read only mode or no end effector is configured.

`removeNamedPose()`

Signature

removeNamedPose(pose_name: str) -> Optional[List[float]]

Remove a named pose from the dictionary of pose_name:joint_angles pairs.

required

Name of the pose to remove (case-insensitive)

Returns: list: Joint angles (radians) of the named pose that was removed, or None if the named pose did not exist

`retract()`

Signature

retract(linear_distance: float = 0.0, angular_distance: float = 0.0) -> None

Back the arm off along the current contact force/torque direction. Intended for use after catching a RuntimeError from a force-aware motion command. With both distances at 0.0 (default), retracts until the contact wrench settles. With a positive distance, retracts that far along the contact direction.

default:"0.0"

Cartesian back-off distance in meters. 0.0 retracts until force settles.

default:"0.0"

Wrist back-off rotation in radians. 0.0 retracts until torque settles.

`setEndEffectorPosition()`

Signature

setEndEffectorPosition(position: float, *, blocking: bool = False) -> None

Command a normalized continuous end-effector position. On success, ee_state is updated immediately to the binary target implied by position. For a nonblocking call this is optimistic command state, not observed jaw feedback; use getEndEffectorPosition to read the current hardware position.

required

Normalized target in the inclusive range [0.0, 1.0], where 0.0 is fully open and 1.0 is fully closed.

default:"False"

If True, wait until the gripper stops moving because it reached the target or stalled against an object. If False, return after the command is accepted. Defaults to False.

Raises: RuntimeError: If the robot is read-only, no end effector is configured, or the configured end effector is not a Robotiq gripper with continuous-position control. ValueError: If position is not a finite number in [0.0, 1.0].

`setJointAngles()`

Signature

setJointAngles(
    angles: List[float],
    blocking: bool = True,
    *,
    high_frequency: bool = False,
    moving_time: float = 2.0,
    accel_time: float = 0.5,
    avoid_force: bool = False,
    stop_acceleration: float = 5,
    force_threshold: float = 10,
    step_time: float = 0.1,
    lookahead_time: float = 0.03,
    gain: float = 300.0,
) -> None

Move the arm joints to the specified target angles. Set high_frequency=False (the default) for a normal point-to-point move that takes moving_time seconds end-to-end. Set high_frequency=True to stream a single setpoint from a real-time control loop (e.g. ~500 Hz) — each call commands one short step of duration step_time and returns immediately, letting the arm follow a stream of closely-spaced setpoints. Parameters that apply only to the other mode are silently ignored (each is annotated below). When avoid_force=True the arm stops and raises grid_types.ForceThresholdExceeded if the end-effector force rises above the configured threshold.

required

List of 6 target joint angles in radians (one per joint, base to wrist).

default:"True"

Wait for the move to complete. Ignored when high_frequency=True (those calls always return immediately). Defaults to True.

default:"False"

Select between a normal point-to-point move (False) and a single streaming control step (True). Defaults to False.

default:"2.0"

Total duration of the move (seconds). Used only when high_frequency=False. Defaults to 2.0.

default:"0.5"

Time spent accelerating and decelerating (seconds). Clamped to at most moving_time / 2. Used only when high_frequency=False. Defaults to 0.5.

default:"False"

If True, stop and raise RuntimeError when the end-effector force rises above the configured threshold. Requires blocking=False: force monitoring runs the move asynchronously, so it cannot also block. Defaults to False.

default:"5"

Deceleration (rad/s^2) used when stopping on a force trigger. Used only when high_frequency=False. Defaults to 5.0.

default:"10"

Force (N) above the pre-move baseline that triggers a stop. Used only when high_frequency=False. Defaults to 10.0.

default:"0.1"

Duration of one high-frequency step (seconds). Used only when high_frequency=True. Defaults to 0.1.

default:"0.03"

default:"300.0"

Raises: ValueError: If moving_time, accel_time, or step_time are not positive numbers, or if avoid_force=True is combined with blocking=True. RuntimeError: If the robot is in read only mode, the move command is rejected, avoid_force=True and the end-effector force exceeds the configured threshold, or a blocking move is attempted while the compliant servo overlay is active (stop it with stopCompliantServo() first).

`set_payload()`

Signature

set_payload(mass: float, cog: Optional[List[float]] = None) -> None

Set the mass and center of gravity of the payload on the flange. Include the end-effector plus anything it holds. The controller uses this for its dynamics model + protective-stop monitoring, and on the e-Series to gravity-compensate the wrist F/T readings from getEndEffectorForce — so a static payload’s weight stops reading as an external push. One call after grasping remains valid as the wrist rotates, as long as the payload does not shift in the gripper.

required

Payload mass in kilograms.

Center of gravity [x, y, z] in meters, displaced from the tool mount in the flange frame. None sets [0.0, 0.0, 0.0].

Raises: RuntimeError: If the robot is in read-only mode, or the controller rejects the payload (mass/CoG outside the robot’s rated limits).

`startCompliantServo()`

Signature

startCompliantServo(
    *,
    waypoint_hz: float = 100.0,
    force_scale: float = 1.0,
    baseline_duration: float = 3.0,
) -> dict

Make the arm compliant to external contact while streaming waypoints. Built for teleoperation and other force-aware, contact-rich tasks — wiping a surface, insertion, collecting demonstrations where the arm presses against fixtures, or policy rollouts near people. It starts an admittance-control overlay on the arm: streamed high-frequency joint waypoints are tracked as usual in free space, but on contact the arm yields along the push and holds a bounded force instead of pushing harder, then springs back once the push releases. Stop it with stopCompliantServo. The gripper is never commanded by the overlay. Call with the arm stationary, contact-free, and at a repeatable pose (e.g. after moveToHome()): the call blocks for baseline_duration seconds measuring the resting force-sensor bias that contact detection is referenced against. Idempotent: if an overlay is already running, returns its status without re-measuring the baseline.

default:"100.0"

Rate (Hz) at which the client streams waypoints; the overlay interpolates between them at the arm’s servo rate.

default:"1.0"

Multiplier in [0, 1] on the sensed contact force. 1.0 = full tuned compliance; 0.0 = rigid waypoint tracking (contact has no effect, safety limits stay armed).

default:"3.0"

Resting-force sampling window in seconds.

Returns: Dict with started (bool), already_running (bool), baseline (list of 6 floats, N / N·m) and waypoint_hz. Raises: RuntimeError: If the arm is read-only. ValueError: If waypoint_hz or baseline_duration is not positive, or force_scale is outside [0, 1].

`startFreeDrive()`

Signature

startFreeDrive() -> None

Enable free-drive (hand-guided) mode. The arm becomes compliant and can be moved by hand while supporting its own weight. Position-control commands such as moveToPose and setJointAngles are not active in this mode — call endFreeDrive to return to position control. Raises: RuntimeError: If the robot is in read only mode, the controller rejects the teach-mode request, or a compliant servo overlay is active (stop it with stopCompliantServo() first — teach mode and the overlay would be two competing writers).

`stop()`

Signature

stop(*, immediate: bool = False) -> None

Stop any movement of the robot (soft emergency-stop). This override only extends the base component stop with the immediate escape hatch; it never re-implements the recursion. With immediate=False it delegates to super().stop() — the standard recursive walk, which covers the attached end effector and any other subcomponents, then performs a controlled stop of the arm. immediate=True is a UR-specific hard stop that halts the arm instantly without walking the tree (an attached gripper holds its state on its own).

default:"False"

If True, stop motion instantly by killing the control script (no controlled deceleration), then reupload it so the arm stays usable for subsequent commands. Use this for an emergency stop. If False, perform a controlled stop and leave the script running. Defaults to False.

Raises: RuntimeError: If immediate=True on an arm that was never started, so there is no control script to kill; or if immediate=True stopped motion but the control script could not be restarted (the controller is still in an emergency or protective stop) — clear the stop on the robot, then call start() to restore control. ComponentStopError: If immediate=False and a stop hook in the component tree raised; the walk still visits every component.

`stopCompliantServo()`

Signature

stopCompliantServo() -> dict

Stop the compliant overlay and return to direct servo streaming. The overlay’s loop performs a controlled stop of the arm on exit. Idempotent: a no-op when no overlay is running. This is also the acknowledgment call after the overlay’s emergency stop — motion commands raise until it (or startCompliantServo()) is called. Returns: Dict with stopped (bool) and was_running (bool) — whether an overlay existed and whether its loop was still alive. Raises: RuntimeError: If the overlay thread does not exit within 2 seconds.

`validateGrasp()`

Signature

validateGrasp() -> bool

Check whether the end effector is currently holding an object. Thin wrapper that delegates to the configured end effector’s EndEffector.getGripDetected. Subclasses generally do not need to override this. Returns: True if the end effector reports an object in its grip, False otherwise. Raises: RuntimeError: If no end effector is configured on this arm. NotImplementedError: If the configured end effector does not support grip detection.

`waitPeriod()`

Signature

waitPeriod(t_start: float) -> None

Sleep until the end of a real-time control-loop iteration. Used with initPeriod to pace a streaming control loop (see initPeriod for example usage).

required

Loop-iteration start time returned by initPeriod.

Raises: RuntimeError: If the robot is in read only mode.

Properties on the robot

Read as robot.<property>; each read runs the getter on the robot.

ControlMode

The controller mode this driver last commanded.Driver-owned: it changes only through the motion API (startFreeDrive, endFreeDrive, the servo/speed/force paths and stop), never by assignment.

int

Optimistic binary end-effector command state, OPEN (0) or CLOSED (1).Updated immediately after an accepted gripper command, so it reflects the last command issued rather than observed hardware feedback — read getEndEffectorPosition for the current jaw position.

float

Force/torque baseline EMA smoothing factor, in [0, 1]. Writable.Higher values make the baseline track more slowly, increasing sensitivity to sudden contacts.

float

Linear force delta above the EMA baseline that trips retraction, in N.Writable; must be finite and > 0.

List[float]

Joint angles (radians) with the arm over the workspace, joints at 90 degrees.

float

Cap applied to commanded joint acceleration, in rad/s^2.Writable; must be finite and > 0.

float

Cap applied to commanded joint speed, in rad/s. Writable; must be finite and > 0.

float

Cap applied to commanded tool acceleration, in m/s^2.Writable; must be finite and > 0.

float

Cap applied to commanded tool speed, in m/s. Writable; must be finite and > 0.

Dict[str, List[float]]

Registered poses as {name: joint angles in radians} (a copy).Mutating the returned mapping does not change what the arm knows: register and remove entries with addNamedPose and removeNamedPose, or assign a whole mapping to replace them all.

bool

Whether this arm was provisioned without a control interface (telemetry only).

float

End-effector torque delta above the EMA baseline that trips retraction, in N·m.Writable; must be finite and > 0.

Configured children

robot.end_effector — the gripper, chosen in the robot’s configuration; when one is fitted, its methods are the EndEffector interface’s.

Lifecycle and configuration

The driver’s own bring-up and configuration hooks. The edge runs them when the robot comes up; do not call them from a program. Note that robot.shutdown() on the proxy is not the method below — it is RemoteRobot.shutdown(), which closes your connection and leaves the robot as it was.

addSensor() — Add an external sensor to the robot.
addSubcomponent() — Attach a child component under a name.
builtin_subcomponents() — Declare the children this class always ships with (customization point).
configHash() — Hash this component’s serialized config subtree.
config_schema()
from_config() — Construct this component and its config-declared subtree.
getIdentity() — Get this component’s own hardware identity (serial, model, version, MAC).
getRobotId() — Stable, readable identifier for a robot or rig, for a database key.
initPeriod() — Mark the start of a real-time control-loop iteration.
serialize() — Serialize this component tree back to its config envelope.
setup_shutdown_handlers() — Register the process-wide atexit and signal handlers for safe teardown.
shutdown() — Shut down this component’s tree, halting motion and releasing resources.
start() — Bring this component’s tree online (connect, enable, arm).

The contract these methods implement is Robot interface; values returned are grid-types (camera reads return Image — call decode() for an ndarray). You reach the robot through make_robot.

​Methods on the robot

​addNamedPose()

​endFreeDrive()

​followJointTrajectory()

​getEndEffectorForce()

​getEndEffectorPose()

​getEndEffectorPosition()

​getImage()

​getInverseKinematics()

​getJointAngles()

​getJointTorques()

​getJointVelocities()

​getLidarPointCloud()

​getNamedPose()

​getObs()

​getOrientation()

​getPose()

​getPosition()

​getState()

​get_payload()

​grasp()

​moveToDeltaPose()

​moveToHome()

​moveToNamedPose()

​moveToPose()

​network_addresses()

​release()

​removeNamedPose()

​retract()

​setEndEffectorPosition()

​setJointAngles()

​set_payload()

​startCompliantServo()

​startFreeDrive()

​stop()

​stopCompliantServo()

​validateGrasp()

​waitPeriod()

​Properties on the robot

​Configured children

​Lifecycle and configuration

Methods on the robot

`addNamedPose()`

`endFreeDrive()`

`followJointTrajectory()`

`getEndEffectorForce()`

`getEndEffectorPose()`

`getEndEffectorPosition()`

`getImage()`

`getInverseKinematics()`

`getJointAngles()`

`getJointTorques()`

`getJointVelocities()`

`getLidarPointCloud()`

`getNamedPose()`

`getObs()`

`getOrientation()`

`getPose()`

`getPosition()`

`getState()`

`get_payload()`

`grasp()`

`moveToDeltaPose()`

`moveToHome()`

`moveToNamedPose()`

`moveToPose()`

`network_addresses()`

`release()`

`removeNamedPose()`

`retract()`

`setEndEffectorPosition()`

`setJointAngles()`

`set_payload()`

`startCompliantServo()`

`startFreeDrive()`

`stop()`

`stopCompliantServo()`

`validateGrasp()`

`waitPeriod()`

Properties on the robot

Configured children

Lifecycle and configuration