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robodk 5.7.5

RoboDK API for Python
The robodk package implements the RoboDK API for Python.
The RoboDK API allows creating simulations for industrial robots, specific mechanisms and generating vendor-specific programs for robots.
With the RoboDK API for Python it is possible to simulate and program any industrial robot using Python programming language.
The RoboDK API provides an alternative to using vendor-specific programming languages.
While RoboDK's graphical user interface can be used to create programs, it is possible to extend the robot controller limitations by using a universal programming language such as Python.
The following page provides an overview of the RoboDK API using Python: https://robodk.com/offline-programming.
The robodk package is available on PyPi.

RoboDK can be used for a wide range of robot manufacturing applications, such as robot machining, 3D printing, synchronizing multiple robots, pick and place, and so on.

Industrial Robot application examples
Robot library
RoboDK Blog
RoboDK Forum

Important: The RoboDK API is not the same as the RoboDK Plug-In interface.
Documentation
The robodk package includes the following modules:

The robolink module is the link between RoboDK and Python. Any item from the RoboDK item tree can be retrieved. Items are represented by the object Item. An item can be a robot, a reference frame, a tool, an object or a specific project.
The robomath module is a robotics toolbox, inspired from Peter Corke's Robotics Toolbox. For instance, matrix operations, projection, timers, etc.
The robodialogs module is a dialogs toolbox. For instance, open and save file dialogs, message prompts, etc.
The robofileio module is a file operation toolbox. File properties, CSV, FTP, etc.
The roboapps module is a RoboDK Apps toolbox. More information can be found in our App loader documentation.

You can find more information about RoboDK API in our documentation.

Introduction to the RoboDK API
Introduction to RoboDK for robot simulation and offline programming
The robodk package for Python

Requirements

RoboDK Simulation Software
Python (Python 2 and Python 3 supported)

Mac and Linux usually have Python 2 installed by default. Although it is not required, Python 3 can be installed on Linux by typing:
sudo apt-get install pip3
sudo apt-get install idle3

The RoboDK API can be used with a free RoboDK license.
How to install
By default, RoboDK automatically uses the PYTHONPATH environment variable pointing to the /RoboDK/Python/ folder to search for the robodk package. Alternatively, you can also install the robodk package for Python:
# cd path-to-python/Scripts
pip install robodk

RoboDK will automatically install external Python dependencies based on your usage. However, if you do not have an active ethernet connection or wish to install them all at once, you can specify external dependencies (see extras_require in setup.py):
# cd path-to-python/Scripts
pip install robodk[cv,apps,lint]

The Python interpreter and editor used by RoboDK can be set in:

RoboDK - Tools - Options - Python

Example
The following script shows an example that uses the robodk package for robot simulation and offline programming. For more examples using the API, see our documented examples.
from robodk.robolink import * # RoboDK's API
from robodk.robomath import * # Math toolbox for robots

# Start the RoboDK API:
RDK = Robolink()

# Get the robot item by name:
robot = RDK.Item('Fanuc LR Mate 200iD', ITEM_TYPE_ROBOT)

# Get the reference target by name:
target = RDK.Item('Target 1')
target_pose = target.Pose()
xyz_ref = target_pose.Pos()

# Move the robot to the reference point:
robot.MoveJ(target)

# Draw a hexagon around the reference target:
for i in range(7):
ang = i*2*pi/6 #ang = 0, 60, 120, ..., 360

# Calculate the new position around the reference:
x = xyz_ref[0] + R*cos(ang) # new X coordinate
y = xyz_ref[1] + R*sin(ang) # new Y coordinate
z = xyz_ref[2] # new Z coordinate
target_pos.setPos([x,y,z])

# Move to the new target:
robot.MoveL(target_pos)

# Trigger a program call at the end of the movement
robot.RunCode('Program_Done')

# Move back to the reference target:
robot.MoveL(target)

Post Processors
The same script used for simulation can be used for robot programming offline. This means a program will be automatically generated for your robot controller to reproduce the movements on the robot.
RoboDK supports a large number of robot controllers and it is easy to include compatibility for new robot controllers using Post Processors.
More information about robot post processors here:

Quick introduction to RoboDK post processors
How to use Post Processors
Technical Reference

You can find the most up to date list of supported robot controllers in our documentation for Post processors.

ABB RAPID IRC5: for ABB IRC5 robot controllers
ABB RAPID S4C: for ABB S4C robot controllers
Adept Vplus: for Adept V+ programming language
Allen Bradley Logix5000: for Allen Bradley Logix5000 PLC
Aubo: for AUBO robot controllers
CLOOS: for CLOOS robot controllers
Comau C5G: for Comau C5G robot controllers
Denso PAC: for Denso RC7 (and older) robot controllers (PAC programming language)
Denso RC8: for Denso RC8 (and newer) robot controllers (PacScript programming language)
Dobot: for educational Dobot robots
Doosan: for Doosan collaborative robots
Epson: for Epson robot controllers
Fanuc R30iA: for Fanuc R30iA and R30iB robot controllers
Fanuc R30iA_Arc: for Fanuc Arc welding
Fanuc RJ3: for Fanuc RJ3 robot controllers
GCode BnR: for B&R robot controllers
GSK: for GSK robots
HCR: for Hanwha robot controllers
HIWIN HRSS: for HIWIN robots
Hyundai: for Hyundai robot controllers
KAIRO: for Keba Kairo robot controllers
Kinova: for Kinova robots
Kawasaki: for Kawasaki AS robot controllers
KUKA IIWA: for KUKA IIWA sunrise programming in Java
KUKA KRC2: for KUKA KRC2 robot controllers
KUKA KRC2_CamRob: for KUKA CamRob milling option
KUKA KRC2_DAT: for KUKA KRC2 robot controllers including DAT data files
KUKA KRC4: for KUKA KRC4 robot controllers
KUKA KRC4_Config: for KUKA KRC4 robot controllers with configuration data in each line
KUKA KRC4_DAT: for KUKA KRC4 robot controllers including DAT data files
Mecademic: for Mecademic's script code required by the Meca500 robot
Mecademic Python: it generates a Python script that can control the Mecademic Meca500 robot remotely.
Mitsubishi: for Mitsubishi robot controllers
Motoman/Yaskawa: for different Motoman robot controllers using Inform II and Inform III (JBI)
Nachi AX FD: for Nachi AX and FD robot controllers
Omron: for Omron/Techman robot controllers
OTC: for Daihen OTC robot controllers
Panasonic: For Panasonic PRG programs (requires Panasonic G2PC tools to compile ASCII files to binary files)
Precise: for Precise Scara robots
Robostar: for Robostar robot controllers
Siasun: for Siasun robot controllers
Siemens_Sinumerik: for Siemens Sinumerik ROBX robot controller
Staubli VAL3: to generate Staubli VAL3 robot programs (CS8 controllers and later). It inlines the robot movements.
Staubli VAL3_Machining: for Staubli VAL3 controllers that have the Machining HSM option.
Staubli S6: for Staubli S6 robot controllers
Toshiba: for Toshiba robots
Techman: for Omron/Techman robot controllers
Universal Robots: for UR robots, it generates linear movements as pose targets
Universal Robots URP: for UR robots, it generates a URP that can be loaded and modified in Polyscope (the UR robot controller)
Universal Robots_RobotiQ: for UR robots including support for RobotiQ gripper
Universal Robots_MoveP: for UR robots, it generates linear movements as MoveP commands
Yamaha: for Yamaha robots

App loader Plug-In
Once you have a script working in Python, you can easily set it up as an App using the App loader plugin.
RoboDK Apps allow you to customize the RoboDK environment for simulation and offline programming.
RoboDK Apps can be easily distributed for production. More information here:

Load scripts as plug-ins in RoboDK
roboapps module

Linting (source-code checker)
Pylint is a source-code, bug and quality checker for Python programming. Pylint is integrated by default when using RoboDK's default settings (VScode/VScodium text editor).
If you prefer using other text editors you can use the pylint_robodk module with Pylint for linting. The following argument must be passed to pylint to activate this feature:
--load-plugins=pylint_robodk

More about RoboDK

Main website
RoboDK Documentation
Blog