URScript API

Warning

The AI Accelerator requires ROS 2 Humble, so PolyScope X 10.12.1 is the latest compatible release. PolyScope X 10.13 and later use ROS 2 Jazzy and are not currently supported.

These APIs are provided by the AI Accelerator SDK URCap preamble and call ROS 2 services or topics under ARK_ROS2Namespace (set when you configure the robot IP in the AI Accelerator URCap).

Start with General: call ark_init() before detection, classification, TF, tags, overlay, or logging APIs. Path planning uses a separate ark_path_planning_init() — see Path Planning.

For end-to-end usage patterns, see the Examples.

• General
  • ark_init()
  • ark_close()
  • ark_set_overlay(view_name)
  • ark_log_event(_log_type, _message)
• TF
  • ark_set_transform(pose, frame_target, add_prefix_target=False, frame_ref="base", add_prefix_ref=True)
  • ark_get_transform(frame_target, add_prefix_target=False, frame_ref="base", add_prefix_ref=True)
• Detection
  • ark_load_detection_model(model)
  • ark_set_detection_params(labels=[], min_confidence=0.3, context="on_surface", context_model="table")
  • ark_infer_detection()
• Path Planning
  • Setup
    • ark_path_planning_init()
    • ark_path_planning_close()
  • Planning and executing a path
    • ark_move_path_plan_js(targetName, targetJ, speed_factor, popUpOnFailure)
    • ark_move_path_plan(targetName, targetP, speed_factor, popUpOnFailure)
  • ROS2 Services
    • SetJointLimits
    • AttachObject
    • CheckJointStates
    • Example Usages
• Classification
  • ark_load_classification_model(model)
  • ark_set_classification_params(roi=struct(x=240.0, y=140.0, width=160.0, height=120.0))
  • ark_infer_classification()
• Tags
  • ark_detect_tags()
  • ark_get_transform(frame_target, add_prefix_target=False, frame_ref="base", add_prefix_ref=True)