Get Async Operation Progress

SUMMARY

Get Async Operation Progress returns a brand-specific value indicating the progress of the current asynchronous operation in flight.

On Universal Robots, this is the RTDE async_operation_progress field: it returns an integer in [0, 100] during execution, or -1 when no async operation is in progress.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill

progress = robot.get_async_operation_progress()

The Code

Example: Poll Async Operation Progress

Start an asynchronous joint move and poll progress until it completes.

import time
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

initial_positions = robot.get_joint_positions()
target_positions = initial_positions[:]
target_positions[0] += 15

robot.set_joint_positions(
    joint_positions=target_positions,
    speed=30,
    acceleration=40,
    asynchronous=True,
)

while True:
    progress = robot.get_async_operation_progress()
    logger.info(f"Async operation progress: {progress}")
    if progress == -1 or progress == 100:
        break
    time.sleep(0.05)

logger.success("Async operation complete.")

# Disconnect
robot.disconnect()

The Explanation of the Code

get_async_operation_progress reads the async_operation_progress RTDE field. During an async move, it returns a percentage (0–100). When no async operation is active, it returns -1. Use this to implement progress bars or to detect motion completion without blocking.

How to Tune the Parameters

This skill takes no input parameters.

Return Value

Field	Type	Description
progress	str	Progress value as a brand-specific code (integer string on Universal Robots).

Where to Use the Skill

• Monitor progress of async motion commands.
• Implement non-blocking wait loops with progress reporting.

When Not to Use the Skill

Use a different skill when:

• You simply want to block until motion completes without polling — use asynchronous=False instead.