feat: add set_user_coordinate()

docs/cobot.md

@@ -10,6 +10,20 @@
 Cobot(const std::string& address, int port = kCommandPort);
 ```
 
+## get_control_box_info
+
+```c++
+ReturnType get_control_box_info(ResponseCollector& response_collector, ControlBoxInfo& info, double timeout = -1.,
+                                bool return_on_error = false);
+```
+
+## get_robot_state
+
+```c++
+ReturnType get_robot_state(ResponseCollector& response_collector, RobotState& robot_state, double timeout = -1.,
+                           bool return_on_error = false);
+```
+
 ## activate
 
 ```c++
@@ -29,6 +43,48 @@ ReturnType get_system_variable(ResponseCollector& response_collector, SystemVari
                                double timeout = -1., bool return_on_error = false);
 ```
 
+## print_variable
+
+```c++
+ReturnType print_variable(ResponseCollector& response_collector, const std::string& variable_name, std::string& out,
+                          double timeout = -1., bool return_on_error = false);
+```
+
+## set_payload_info
+
+```c++
+ReturnType set_payload_info(ResponseCollector& response_collector, double weight, double com_x, double com_y,
+                            double com_z, double timeout = -1., bool return_on_error = false);
+```
+
+## get_tcp_info
+
+```c++
+ReturnType get_tcp_info(ResponseCollector& response_collector, PointRef point, double timeout = -1.,
+                        bool return_on_error = false);
+```
+
+## get_tfc_info
+
+```c++
+ReturnType get_tfc_info(ResponseCollector& response_collector, PointRef point, double timeout = -1.,
+                        bool return_on_error = false);
+```
+
+## set_tcp_info
+
+```c++
+ReturnType set_tcp_info(ResponseCollector& response_collector, PointConstRef point, double timeout = -1.,
+                        bool return_on_error = false);
+```
+
+## set_user_coordinate
+
+```c++
+ReturnType set_user_coordinate(ResponseCollector& response_collector, int id, PointConstRef point, double timeout = -1.,
+                               bool return_on_error = false);
+```
+
 ## set_operation_mode
 
 ```c++

examples/set_user_coordinate.py

@@ -0,0 +1,33 @@
+import rbpodo as rb
+import numpy as np
+
+ROBOT_IP = "10.0.2.7"
+
+
+def _main():
+    try:
+        robot = rb.Cobot(ROBOT_IP)
+        rc = rb.ResponseCollector()
+
+        res = robot.set_tcp_info(rc, np.array([0, 0, 0, 0, 0, 0]))
+        if not res.is_success():
+            print("failed to set tcp")
+            exit(-1)
+        rc = rc.error().throw_if_not_empty()
+
+        res = robot.set_user_coordinate(rc, 0, np.array([0, 0, 0, 0, 90, 0]))
+        if not res.is_success():
+            print("failed to set user coordinate")
+            exit(-1)
+        rc = rc.error().throw_if_not_empty()
+
+        robot.move_l_rel(rc, np.array([100, 0, 0, 0, 0, 0]), 100, 200, rb.ReferenceFrame.User0)
+        if robot.wait_for_move_started(rc, 0.5).type() == rb.ReturnType.Success:
+            robot.wait_for_move_finished(rc)
+        rc = rc.error().throw_if_not_empty()
+    except Exception as e:
+        print(e)
+
+
+if __name__ == "__main__":
+    _main()

include/rbpodo/cobot.hpp

@@ -465,6 +465,25 @@ class Cobot {
     return wait_until_ack_message(response_collector, timeout, return_on_error);
   }
 
+  /**
+   * Set user coordinate
+   *
+   * @param[in] response_collector A collector object to accumulate and manage the response message.
+   * @param[in] id id of user coordinate to change (0~2)
+   * @param[in] point position and orientation of coordinate with respect to base frame. (x, y, z, rx, ry, rz) (Unit: mm & degree)
+   * @param[in] timeout The maximum duration (in seconds) to wait for a response before timing out.
+   * @param[in] return_on_error A boolean flag indicating whether the function should immediately return upon encountering an error.
+   * @return ReturnType
+   */
+  ReturnType set_user_coordinate(ResponseCollector& response_collector, int id, PointConstRef point,
+                                 double timeout = -1., bool return_on_error = false) {
+    std::stringstream ss;
+    ss << "set rb_manual_user_coord_6d " << id << ",1," << point[0] << "," << point[1] << "," << point[2] << "," << point[3]
+       << "," << point[4] << "," << point[5];
+    sock_.send(ss.str());
+    return wait_until_ack_message(response_collector, timeout, return_on_error);
+  }
+
   ReturnType set_operation_mode(ResponseCollector& response_collector, OperationMode mode, double timeout = -1.,
                                 bool return_on_error = false) {
     std::stringstream ss;

python/cobot.hpp

@@ -28,6 +28,9 @@ class PyCobot : public Cobot<EigenVector> {
   ASYNC_FUNC_WRAPPER_RC(Cobot, shutdown, (double, _to)(bool, _roe))
   ASYNC_FUNC_WRAPPER_RC(Cobot, set_operation_mode, (OperationMode, _a)(double, _to)(bool, _roe))
   ASYNC_FUNC_WRAPPER_RC(Cobot, set_speed_bar, (double, _a)(double, _to)(bool, _roe))
+  ASYNC_FUNC_WRAPPER_RC(Cobot, set_payload_info, (double, _a)(double, _b)(double, _c)(double, _d)(double, _to)(bool, _roe))
+  ASYNC_FUNC_WRAPPER_RC(Cobot, set_tcp_info, (PointConstRef, _a)(double, _to)(bool, _roe))
+  ASYNC_FUNC_WRAPPER_RC(Cobot, set_user_coordinate, (int, _a)(PointConstRef, _b)(double, _to)(bool, _roe))
   ASYNC_FUNC_WRAPPER_RC(Cobot, set_freedrive_mode, (bool, _a)(double, _to)(bool, _roe))
   ASYNC_FUNC_WRAPPER_RC(Cobot, set_collision_onoff, (bool, _a)(double, _to)(bool, _roe))
   ASYNC_FUNC_WRAPPER_RC(Cobot, set_collision_threshold, (double, _a)(double, _to)(bool, _roe))
@@ -507,6 +510,27 @@ timeout : float
 return_on_error : bool
     A boolean flag indicating whether the function should immediately return upon encountering an error.
 
+Returns
+-------
+ReturnType
+)pbdoc")
+      .def("set_user_coordinate", &PyCobot<T>::set_user_coordinate, py::arg("response_collector"), py::arg("id"),
+           py::arg("point"), py::arg("timeout") = -1, py::arg("return_on_error") = false, R"pbdoc(
+Set user coordinate
+
+Parameters
+----------
+response_collector : ResponseCollector
+    A collector object to accumulate and manage the response message.
+id : int
+    id of user coordinate to change (0~2)
+point : numpy.ndarray(shape=(6, 1))
+    position and orientation of coordinate with respect to base frame. (x, y, z, rx, ry, rz) (Unit: mm & degree)
+timeout : float
+    The maximum duration (in seconds) to wait for a response before timing out.
+return_on_error : bool
+    A boolean flag indicating whether the function should immediately return upon encountering an error.
+
 Returns
 -------
 ReturnType