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:

1020B

sim_commands_pick_place.script

UR Script file

3MB

workstation_box_pick_place.rdk

RoboDK workstation