Get Payload
SUMMARY
Get Payload returns the configured payload mass in kilograms as set in the robot controller's payload configuration.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
python
payload = robot.get_payload()The Code
Example: Read and Log Configured Payload
Connect to the robot and read the currently configured payload mass.
python
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)
payload = robot.get_payload()
logger.success(f"Configured payload: {payload} kg")
# Disconnect
robot.disconnect()The Explanation of the Code
get_payload reads the payload field from the RTDE data stream. This is the payload mass configured in the controller — it does not measure the actual weight in real time. Use it to verify that the correct payload setting is active before starting a task requiring precise dynamics.
How to Tune the Parameters
This skill takes no input parameters.
Return Value
| Field | Type | Description |
|---|---|---|
payload | float | Configured payload mass in kilograms. |
Where to Use the Skill
- Verify payload configuration before a pick-and-place cycle.
- Log alongside F/T data for load validation workflows.
When Not to Use the Skill
Use a different skill when:
- You also need the center of gravity offset — use Get Payload CoG instead.
- You need a real-time force measurement — use Get Actual TCP Force instead.