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Scripting API

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Nishendra Singh edited this page Sep 16, 2026 · 4 revisions

You can control robots from the Python console and from macros. The module App/rbt_api.py is the public API.

from freecad.robotics.App.rbt_api import get_robot, get_robots

All values at the API boundary are millimeters and degrees. Placements are App.Placement objects in world coordinates. Errors raise RbtError (RbtInputError, RbtDocError).

Get a robot

Function Function result
get_robot(hint=None, doc=None) One RobotApi. Give no hint when the document has one robot. A hint is a Name, a Label, or a Robot object
get_robots(doc=None) List of RobotApi for all robots in the document 
rob = get_robot()        # the only robot in the active document
rob = get_robot("KR16")  # by Label

for rob in get_robots():
    print(rob)           # <RobotApi 'Robot1' joints=6>

The API classes

  • RobotApi: read the structure, move the joints, FK and IK, base, tools, and backend.
  • TrajectoryApi: make waypoints, examine plans, and move along trajectories.
  • RobotBuilder: build or edit a robot from a script, without the wizard.

Exports

get_robot, get_robots, RobotApi, RobotBuilder, TrajectoryApi, RbtError, RbtInputError, RbtDocError, REVOLUTE, PRISMATIC, FIXED, PTP, LIN, Waypoint, is_robot, is_trajectory.

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