Trajectory Point Interface

The TrajectoryPointInterface allows sending trajectory points to the robot. It is intended to be used in conjunction with the ReverseInterface during trajectory forwarding.

Communication regarding trajectory point execution would usually look like this:

Basically, the TrajectoryPointInterface transfers the trajectory points from the external control PC to the robot for execution. Execution isn’t started, before a start command is sent via the ReverseInterface. Once trajectory execution is done (either successful, failed or canceled externally), the robot will send a response back to the control PC via the trajectory socket.

Note

The TrajectoryPointInterface simply forwards the trajectory points to the robot. Execution is done using respective URScript functions such as movej or movel. Therefore, all parameters and restrictions of these functions apply. For example, velocity and acceleration parameters will be ignored if there is a time > 0 given.

Communication protocol

The TrajectoryPointInterface’s “trajectory_socket” on the robot is expecting 32 bit integer representations in 21 datafields. The data fields have the following meaning:

trajectory_socket message format

index	meaning
0-5	trajectory point positions (multiplied by MULT_JOINTSTATE). Interpreted as joint positions [rad] or as a Cartesian pose ([m, m, m, rad, rad, rad]) depending on the motion type at index 20 (see below).
6-11	Depending on the motion type, this represents either Joint hint q_near (six joint positions in radians, MULT_JOINTSTATE-scaled) when the motion target is a Cartesian urcl::Pose with Pose::q_near set on the library side. The bundled external_control.urscript applies this hint for MOVEJ_POSE and OPTIMOVEJ_POSE (get_inverse_kin seed); other pose motion types still receive the block on the wire but ignore it in the default script. For all MOVEC variants this field contains the via point (same joint-vs-pose interpretation as the target at indices 0-5, see the motion type at index 20). trajectory point velocities (multiplied by MULT_JOINTSTATE) for spline joint types
12-17	Depending on the motion type, this represents either trajectory point accelerations (multiplied by MULT_JOINTSTATE) for spline joint types. for all other motion types 12: velocity (multiplied by MULT_JOINTSTATE) 13: acceleration (multiplied by MULT_JOINTSTATE) 14: Depending on motion type: MOVEC_*: arc mode (multiplied by MULT_JOINTSTATE) Other non-spline primitives with a Cartesian Pose target: 1.0 or 0.0 (scaled by MULT_JOINTSTATE) indicating whether indices 6–11 carry q_near. The bundled URScript consumes q_near for MOVEJ_POSE and OPTIMOVEJ_POSE only; the flag and joint block are still defined this way for all such pose motions.
18	segment duration (seconds, multiplied by MULT_TIME; integer microseconds on the wire).
19	depending on trajectory point type All MOVE* and OPTIMOVE* variants: point blend radius (in meters, multiplied by MULT_TIME) SPLINE: spline type (1: CUBIC, 2: QUINTIC; raw integer, not MULT_TIME-scaled)
20	trajectory point type. The base values below use the URScript command’s “natural” target type (joints for movej / optimovej, Cartesian pose for movel / movep / movec / optimovel). The *_POSE / *_JOINT variants indicate that the other target kind is being sent instead. 0: MOVEJ – movej to a joint target 1: MOVEL – movel to a pose target 2: MOVEP – movep to a pose target 3: MOVEC – movec with pose via and pose target 4: OPTIMOVEJ – optimovej to a joint target 5: OPTIMOVEL – optimovel to a pose target 6: MOVEJ_POSE – movej to a pose target (IK on the robot controller) 7: MOVEL_JOINT – movel to the pose implied by a joint target (FK on the robot controller) 8: MOVEP_JOINT – movep to the pose implied by a joint target (FK on the robot controller) 9: MOVEC_JOINT – movec with joint via and joint target 10: MOVEC_JOINT_POSE – movec with pose via and joint target 11: MOVEC_POSE_JOINT – movec with joint via and pose target 12: OPTIMOVEJ_POSE – optimovej to a pose target 13: OPTIMOVEL_JOINT – optimovel to the pose implied by a joint target 51: SPLINE - Cubic or quintic spline.

where

• MULT_JOINTSTATE: 1000000

• MULT_TIME: 1000000

Note

With MULT_TIME being 1000000, the maximum duration that can be sent is 2147 seconds, while precision is cut off at 1 microsecond. (The same applies to the blend radius, respectively being max 2147 m and 1 μm precision.)

Note

The *_POSE / *_JOINT motion-type variants let callers mix joint-space and Cartesian targets freely through the high-level APIs (see Instruction Executor and the urcl::MotionTarget type). On the wire the positions are always packed as a 6-tuple of MULT_JOINTSTATE-scaled integers; which physical quantity they represent (joint angles or Cartesian pose components) is determined solely by the motion type field at index 20. The corresponding mapping back to movej / movel / movep / movec / optimovej / optimovel calls with either q or p[...] arguments is performed on the robot side by resources/external_control.urscript.