Set Cartesian Speed

SUMMARY

Set Cartesian Speed sets the default TCP speed used by motions that are called without an explicit speed. The initial value is 1.05 m/s.

UNITS

speed is in m/s (Tool Center Point linear).

The Skill

robot.set_cartesian_speed(0.25)

The Code

Safety first!

A real robot will faithfully do whatever you ask of it - so please take a moment to clear the workspace, keep an E-Stop within reach, and be ready to disconnect.

Operating real hardware is at your own risk.

"""
Set the default Cartesian speed, then make a Cartesian move that uses it.

Supports Universal Robots (UR), Epson, virtual, and Isaac Sim.

Usage:
    python set_cartesian_speed.py [--ip <ROBOT_IP>] [--prim_path <PRIM_PATH>]
"""

import argparse

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None, prim_path: str | None) -> None:
    """Set the default Cartesian speed and move with it."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    # ==================== Visualization (Optional) =============================
    # Live: subscribes to the robot's state topic and redraws as it moves.
    robot.visualize_rerun(live=True)

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)
        elif prim_path:
            robot.connect(simulation_prim_path=prim_path)
            robot.set_joint_positions(robot.default_joint_configuration)

        # ==================== Run Skill ============================================
        # TCP linear speed [m/s] for Cartesian moves called without one
        robot.set_cartesian_speed(speed=0.1)
        logger.info("Default Cartesian speed set to 0.1 m/s.")

        #===================== Move With Defaults ==========================================
        target_cartesian_pose = robot.get_cartesian_pose().copy()
        target_cartesian_pose[2] += 0.1  # Move 10 cm up in Z

        # Called without speed/acceleration, so the defaults set above are used
        robot.set_cartesian_pose(cartesian_pose=target_cartesian_pose)
        logger.success(f"Moved to target Cartesian pose: {target_cartesian_pose}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Set the default Cartesian speed and move with it.")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    parser.add_argument("--prim_path", type=str, default=None,
                         help='Isaac Sim articulation prim path, e.g. "/World/ur10e"')
    args = parser.parse_args()

    main(ip=args.ip, prim_path=args.prim_path)

Running the Example

Virtual

python set_cartesian_speed.py

Isaac Sim

python set_cartesian_speed.py --prim_path /World/ur10e

Real

python set_cartesian_speed.py --ip 192.168.1.100

For all options:

python set_cartesian_speed.py --help

Parameter Configuration

Parameter	Type	Default	Description
speed	float	required	New default TCP speed in m/s. Must be finite and positive.

Returns

Type	Description
None	The default is stored on the robot and used by Set Cartesian Pose and Set Joint Position in Cartesian Space.

Raises

Exception	Condition
TypeError	speed is not a number
ValueError	speed is not finite and positive

How to Tune the Parameters

Applies to Set Cartesian Pose and Set Joint Position in Cartesian Space when they are called without an explicit speed; an explicit value passed to the motion still wins. Start conservatively while validating a new path, then raise the default once the motion is confirmed clear.

Where to Use the Skill

• Program-wide defaults - Set the speed once instead of passing it to every move.
• Commissioning - Slow everything down while testing a new cell.

When Not to Use the Skill

• One move needs a different value - pass it directly to the motion call.
• You want to interrupt a move - use Stop Joint Motion or Stop Cartesian Motion.