Simulation Commands
When coding robotics application with Robpod Studio, a set of special functions called Simulation Commands is available to better interact with the simulation environment from the robot program.
Simualtion Commands are particullary suited during Off-Line Programming to let the robot grasp and move objects inside the simulation environment.
All Simulation Commands starts with the sim_ prefix, i.e. sim_grasp().
Here the complete list of simulation commands:
| Command Name | Description | Parameters |
|---|---|---|
sim_grasp(object) | Attach an object to robot tool. | object: string - Name of object to attach to robot tool. If object is not specified, closest object to robot tool will be used. |
sim_release(object) | Detach an object from robot tool. | object: string - Name of object to detach from robot tool. If object is not specified, all attached objects will be detached from robot tool. |
sim_set_parent(object, parent) | Attach an object to another parent while maintaining the current absolute position in the simulation. | object: string - Name of the object to set the parent to. parent: string - Name of parent. If parent is not specified, object is attached to simulation workstation. |
You can find here an example of pick and place application using Simulation Commands:
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