The .getParam() method on the name does only return b"", even if can be set.
I already tried different naming conventions (e.g. "ProgramStart", "PathApproach").
Is there a list of all the parameters and the expected formatting
Thank you and kind regards
Transformer
My current implementation
Code:
from pydantic import BaseModel, Field
from typing import List, Tuple, Optional
from enum import Enum
class ProgramEvents(BaseModel):
fast_move_speed: float = Field(1000.0, description="Fast move speed in mm/s")
change_tool_id: Optional[str] = Field(None, description="Command to change tool ID")
on_start: Optional[str] = Field(None, description="Action to take at program start")
on_approach: Optional[str] = Field(None, description="Action to take during path approach")
on_path_start: Optional[str] = Field(None, description="Action to take at the start of the path")
on_point: Optional[str] = Field(None, description="Action to take on a specific point")
on_path_finish: Optional[str] = Field(None, description="Action to take at the end of the path")
on_retract: Optional[str] = Field(None, description="Action to take during path retraction")
on_finish: Optional[str] = Field(None, description="Action to take at program finish")
class MachiningConfiguration(BaseModel):
name: str = Field(..., description="Name of the machining project")
approach: List[Tuple[str, float]] = Field(
[("Tangent", 10.0)],
description="List of approach types and their corresponding values (e.g., [('Tangent', 10.0), ('Normal', 100.0)])"
)
retract: List[Tuple[str, float]] = Field(
[("Tangent", 10.0)],
description="List of retract types and their corresponding values (e.g., [('Tangent', 10.0), ('Normal', 100.0)])"
)
select_algorithm: SelectAlgorithm = Field(SelectAlgorithm.MINIMUM_TOOL_ORIENTATION_CHANGE, description="Algorithm selection")
program_events: ProgramEvents = Field(default_factory=ProgramEvents, description="Program events and commands")
def configure_curve_follow(self, curve_follow):
"""
Configure the curve_follow object using the current MachiningConfiguration parameters.
Args:
curve_follow: The curve_follow object to configure.
"""
# Combine approach types and values into a single string
approach_string = ", ".join(f"{atype} {avalue}" for atype, avalue in self.approach)
curve_follow.setParam("Approach", approach_string)
# Combine retract types and values into a single string
retract_string = ", ".join(f"{rtype} {rvalue}" for rtype, rvalue in self.retract)
curve_follow.setParam("Retract", retract_string)
# Set the algorithm selection
curve_follow.setParam("SelectAlgorithm", str(self.select_algorithm.value))
# Add program events if they are set
program_event_params = {
"on_start": self.program_events.on_start,
"on_approach": self.program_events.on_approach,
"on_path_start": self.program_events.on_path_start,
"on_point": self.program_events.on_point,
"on_path_finish": self.program_events.on_path_finish,
"on_retract": self.program_events.on_retract,
"on_finish": self.program_events.on_finish,
}
for key, value in program_event_params.items():
if value: # Only include parameters with non-None values
machining_settings[key] = value
# Set the machining settings as a JSON string
curve_follow.setParam("Machining", str(machining_settings))
RoboDK will automatically convert your parameters as a dictionary into a JSON string when using setParam in Python. I recommend you to take a look at this example that gets and sets the robot machining parameters: https://robodk.com/doc/en/PythonAPI/exam...g-settings
You should not convert the dictionary to a string as this will not format the parameters properly.
The same link has an example to set your desired approach/retract path strategy.
01-17-2025, 01:02 PM (This post was last modified: 01-17-2025, 01:45 PM by HomogeneousTransformer.
Edit Reason: Bug fixes
)
Thank you, that did work. The updated script using pydantic BaseModels to make easier to do validation on the settings if one is interested.
Code:
from enum import Enum
from pydantic import BaseModel, Field, RootModel
from typing import Optional, List
# Enum for algorithm selection
class SelectAlgorithm(int, Enum):
MINIMUM_TOOL_ORIENTATION_CHANGE = 0
TOOL_ORIENTATION_FOLLOWS_PATH = 1
ROBOT_HOLDS_OBJECT = 3
# Model for Approach and Retract settings
class ApproachRetractSetting(BaseModel):
type: Optional[str] = Field(
None, description="Approach or Retract type (e.g., 'Tangent', 'XYZ', 'ArcN')"
)
values: Optional[List[float]] = Field(
None,
description="Values associated with the type (e.g., [50] for Tangent or [50, 60, 70] for XYZ)",
)
# Configure machining and program events
def configure_curve_follow(
curve_follow,
*,
machining_settings: Optional[MachiningSettings],
program_events: Optional[ProgramEvents],
approach_settings: Optional[ApproachRetractSettings],
retract_settings: Optional[ApproachRetractSettings]
):
"""
Configure the curve follow process with machining and program event settings.
Args:
curve_follow: The curve follow object to configure.
machining_settings (MachiningSettings): The machining settings model instance.
program_events (ProgramEvents): The program events model instance.
"""
# Configure machining settings
if machining_settings:
machining_dict = machining_settings.model_dump(by_alias=True, exclude_none=True)
curve_follow.setParam("Machining", machining_dict)
# Configure program events
if program_events:
program_events_dict = program_events.model_dump(by_alias=True, exclude_none=True)
curve_follow.setParam("ProgEvents", program_events_dict)
# Configure approach and retract
if approach_settings:
curve_follow.setParam("Approach", approach_settings.to_string())
if retract_settings:
curve_follow.setParam("Retract", retract_settings.to_string())
