Move Path
SUMMARY
Move Path executes a pre-constructed controller-native path object. On Universal Robots, this is a rtde_control.Path object that encodes waypoints, speeds, and blend radii in the controller's native format.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
robot.move_path(path=controller_path, asynchronous=False)The Code
Example: Execute a Pre-Built Controller Path
Build a controller path object and execute it.
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)
# Build the path using the underlying controller library
# (rtde_control.Path on Universal Robots — see UR RTDE documentation)
# path = ... # construct your path object here
# Execute the path
# robot.move_path(path=path, asynchronous=False)
logger.info("Path execution example — construct path before calling move_path.")
# Disconnect
robot.disconnect()The Explanation of the Code
move_path passes a controller-native path object directly to the robot controller without any unit conversion. On Universal Robots, the path is an rtde_control.Path object that encodes waypoints, blend radii, and speeds in UR's native units. This gives full control over blending behavior and speed profiles at each waypoint. Construct the path using the controller library before calling this method.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
path | Any | — | Controller-native path object. On Universal Robots: rtde_control.Path. |
asynchronous | bool | False | If True, return immediately without waiting for path completion. |
Return Value
| Value | Description |
|---|---|
None | This skill returns nothing. |
Where to Use the Skill
- High-performance multi-waypoint trajectories where fine-grained control over blend radii and speed profiles is required.
When Not to Use the Skill
Use a different skill instead in these cases:
- Use Move Cartesian Path for simple ordered Cartesian waypoints without needing to build a native path object.