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PAROL6 Python API

Python client and controller for PAROL6 robot arms, implementing the waldoctl robot interface. Any application built against the waldoctl ABCs (e.g., PAROL Web Commander) can use this package as a drop-in backend.

This package provides:

  • Robot — unified entry point: lifecycle, kinematics (FK/IK), client factories (waldoctl.Robot)
  • AsyncRobotClient — async UDP client for motion commands and status streaming (waldoctl.RobotClient)
  • RobotClient — sync wrapper around the async client
  • DryRunRobotClient — offline trajectory simulation
  • parol6-server CLI for standalone controller operation

The controller speaks a msgpack-based UDP protocol and can run on the same machine or remotely.

Table of contents

Installation

Requirements: Python >= 3.11 · Supported platforms: macOS (ARM64), Windows (AMD64), Linux (x86_64, aarch64)

pip install .

To launch the controller after installation:

parol6-server --log-level=INFO

Quickstart

Using the Robot class

from parol6 import Robot, RobotClient

robot = Robot(host="127.0.0.1", port=5001)
robot.start()  # starts controller subprocess, blocks until ready
try:
    with RobotClient(host="127.0.0.1", port=5001) as client:
        print("ping:", client.ping())
        print("pose:", client.get_pose())
finally:
    robot.stop()

The Robot class can also be used as a context manager:

with Robot() as robot:
    with RobotClient() as client:
        client.home(wait=True)

Async client

import asyncio
from parol6 import AsyncRobotClient

async def main():
    async with AsyncRobotClient(host="127.0.0.1", port=5001) as client:
        ready = await client.wait_ready(timeout=3)
        print("server ready:", ready)
        print("ping:", await client.ping())
        status = await client.get_status()
        print("status keys:", list(status.keys()) if status else None)

asyncio.run(main())

Sync client (convenience wrapper)

from parol6 import RobotClient

with RobotClient(host="127.0.0.1", port=5001) as client:
    print("ping:", client.ping())
    print("pose:", client.get_pose())

Examples

See the examples/ directory for runnable scripts:

  • sync_client_quickstart.py -- basic sync client usage (ping, query)
  • async_client_quickstart.py -- async client with status streaming and motion
  • manage_server_demo.py -- starting/stopping the controller programmatically
  • pick_and_place.py -- pick-and-place cycle with electric gripper
  • draw_circle.py -- curved motion commands (moveC, moveS, moveP)
  • zigzag_scan.py -- raster scan pattern with blend radius for smooth corners
  • speed_comparison.py -- timing different speeds and motion profiles

Architecture overview

flowchart TB
    subgraph Client["Client Application"]
        ROB["Robot<br/>(lifecycle, kinematics, factories)"]
        ARC["AsyncRobotClient / RobotClient"]
        DRC["DryRunRobotClient<br/>(offline simulation)"]
    end

    subgraph Controller["Controller Process"]
        direction TB

        subgraph UDP["UDP Layer"]
            UDP_RX["UDPTransport<br/>recv (port 5001)"]
            UDP_TX["ACK/Response"]
        end

        subgraph CmdProc["Command Processing"]
            REG["Command Registry<br/>(auto-discover)"]
            QUEUE["Command Queue<br/>(max 100)"]
        end

        subgraph Planner["MotionPlanner (subprocess)"]
            direction TB
            PLAN_IN["command_queue"]
            PLAN_WORK["TrajectoryPlanner<br/>(path gen → IK chain → TOPPRA)"]
            PLAN_OUT["segment_queue"]

            PLAN_IN --> PLAN_WORK --> PLAN_OUT
        end

        subgraph MainLoop["Main Control Loop (100 Hz)"]
            direction TB
            RX_SERIAL["1. Read Serial Frame"]
            POLL["2. Poll UDP Commands"]
            STATUS["3. Broadcast Status<br/>(change-detection cache)"]
            ESTOP["4. E-Stop Check"]
            EXEC["5. Execute<br/>(SegmentPlayer or StreamingExecutor)"]
            TX_SERIAL["6. Write Serial Frame"]
            TIMING["7. Deadline Wait"]

            RX_SERIAL --> POLL --> STATUS --> ESTOP --> EXEC --> TX_SERIAL --> TIMING
        end
    end

    subgraph Transports["Transport Layer"]
        FACTORY["TransportFactory"]
        SERIAL["SerialTransport<br/>(3 Mbaud)"]
        MOCK["MockSerialTransport<br/>(shared memory IPC)"]
    end

    subgraph HW["Hardware / Simulator"]
        BOARD["PAROL6 Board"]
        SIM["Simulated Dynamics<br/>(subprocess)"]
    end

    %% Client to Controller
    ROB -->|"start / stop"| Controller
    ARC -->|"UDP commands"| UDP_RX
    UDP_TX -->|"ACK/response"| ARC
    STATUS -->|"STATUS multicast<br/>239.255.0.101:50510"| ARC

    %% Command flow
    UDP_RX --> REG --> QUEUE

    %% Planned path: queue → planner subprocess → segment player
    QUEUE -->|"planned moves<br/>(MoveJ, MoveL, etc.)"| PLAN_IN
    PLAN_OUT -->|"TrajectorySegment"| EXEC

    %% Streaming path: queue → executor directly (bypasses planner)
    QUEUE -->|"streaming cmds<br/>(JogJ, ServoJ, etc.)"| EXEC

    %% Transport to hardware
    TX_SERIAL --> FACTORY
    FACTORY --> SERIAL --> BOARD
    FACTORY --> MOCK --> SIM
Loading

Component summary

  • Robot (parol6.robot): Unified entry point — server lifecycle, kinematics (FK/IK), client factories, configuration
  • Client (parol6.client): AsyncRobotClient (async UDP with built-in multicast status listener), RobotClient (sync wrapper), DryRunRobotClient (offline simulation)
  • Controller (parol6.server.controller): Main loop with phase-based execution at 100 Hz, UDP command server, status broadcasting
  • MotionPlanner (parol6.server.motion_planner): Separate subprocess for trajectory computation (TOPPRA, IK chains) — keeps the 100 Hz loop free. Only planned moves (MoveJ, MoveL, MoveC, MoveS, MoveP) go through the planner; streaming commands (JogJ, ServoJ, etc.) execute directly in the main loop
  • SegmentPlayer (parol6.server.segment_player): Consumes computed trajectory segments in the control loop — indexes one waypoint per tick with zero allocation
  • StreamingExecutor (parol6.motion.streaming_executors): Joint-space and Cartesian Ruckig-based executors for real-time jog/servo commands
  • Motion pipeline (parol6.motion): Offline trajectory generation (TOPPRA, Ruckig, Quintic, Trapezoid, Linear) and online streaming executors
  • Transports (parol6.server.transports): SerialTransport (hardware, 3 Mbaud), MockSerialTransport (simulator via shared memory IPC)
  • StatusCache (parol6.server.status_cache): Change-detection cache with async IK worker for cartesian/joint enablement computation

Why multicast status?

The controller pushes status via UDP multicast to avoid client-side polling, reduce command-channel contention, and support multiple observers (GUI, logging). Falls back to unicast when multicast is unavailable (PAROL6_STATUS_TRANSPORT=UNICAST).

Simulator mode

Uses MockSerialTransport with shared memory IPC for subprocess isolation. Toggle via simulator_on() / simulator_off(). The simulator syncs to controller state on enable for pose continuity. Note: Simulation cannot guarantee hardware success—motor/current limits may cause failures on the real robot.

Control loop internals

The main loop (controller.py) runs a fixed sequence of phases every tick:

  1. Read serial frame — poll transport for incoming telemetry (position, I/O, gripper)
  2. Poll UDP commands — non-blocking receive up to 25 messages per tick
  3. Broadcast status — multicast at STATUS_RATE_HZ (default 50 Hz), skipped if status cache is stale
  4. E-Stop check — hardware pin polling; on activation: cancel all motion, clear queue, send DISABLE to firmware. Auto-recovers on release
  5. Execute — run SegmentPlayer (planned moves) or StreamingExecutor (jog/servo)
  6. Write serial frame — pack output into 58-byte frame and transmit
  7. Deadline wait — hybrid sleep + busy-loop to hit exact tick boundary

Timing: hybrid sleep + busy-loop

The loop timer (loop_timer.py) uses a two-phase strategy for precise tick timing:

deadline = now + interval (10ms at 100Hz)

if time_remaining > busy_threshold (1ms):
    time.sleep(time_remaining - busy_threshold)    # OS sleep for bulk of wait

while time.perf_counter() < deadline:
    pass                                           # Busy-loop for final 1ms

OS time.sleep() has ~1-4ms jitter depending on platform and load. The busy-loop absorbs this jitter to hit deadline with sub-millisecond precision. The PAROL6_BUSY_THRESHOLD_MS env var (default 1.0) controls the crossover point.

Planned vs streaming command paths

Planned moves (MoveJ, MoveL, MoveC, MoveS, MoveP, Home):

  1. Command arrives via UDP → decoded → queued
  2. Submitted to MotionPlanner subprocess via command_queue
  3. Planner runs TrajectoryBuilder (TOPPRA, IK) — can take 10-500ms
  4. Result sent back as TrajectorySegment via segment_queue
  5. SegmentPlayer indexes one waypoint per tick: Position_out[:] = trajectory_steps[step]

Streaming commands (JogJ, JogL, ServoJ, ServoL):

  1. Command arrives via UDP → stream fast-path (no full decode if type matches active command)
  2. assign_params() updates target on existing command instance
  3. do_setup() re-runs (also a hot path at ~50Hz for UI-driven jog)
  4. StreamingExecutor ticks Ruckig for smooth interpolation
  5. Per-tick IK solve for Cartesian commands (JogL, ServoL)

The fast-path avoids command object creation entirely — it reuses the active command instance and re-assigns parameters. This is critical for 50Hz jog streams.

Hot path rules

The control loop and streaming command paths are latency-critical. GC pauses are the primary cause of loop timing degradation. The codebase enforces strict allocation discipline:

Zero-allocation zones

execute_step() and tick() run at 100Hz. do_setup() for streamable commands runs at ~50Hz (UI sends at status rate). These are zero heap allocation zones:

  • No container construction: No list(...), [x for x in ...], dict(...), set(...), or comprehensions
  • No string formatting: No f-strings or % formatting (except error paths that run once)
  • No object creation: No dataclass(), namedtuple(), or class instantiation
  • Pre-allocate all buffers in __init__: numpy arrays, lists, memoryviews
  • In-place array ops: dest[:] = src (numpy writes into existing buffer)
  • np.copyto(dest, src, casting=...) only when casting is needed — it's slower than dest[:] = src otherwise

Pre-allocate all buffers in __init__ and reuse them every tick via dest[:] = src. StreamingExecutor's tick() returns reused list[float] — callers must copy if they need values across ticks.

Performance-critical functions (unit conversions, serial frame packing, IK checks, SE3 ops, statistics) are Numba JIT-compiled with @numba.njit(cache=True). First run takes 3-10s for compilation; warmup_jit() pre-compiles at startup. Subsequent runs use the cache (~100ms).

Motion profiles

Set the motion profile for all moves:

client.set_profile("TOPPRA")  # Default: time-optimal path-following

Available profiles (SETPROFILE):

Profile Description
TOPPRA Time-optimal path-following (default)
RUCKIG Jerk-limited point-to-point motion (joint moves only)
QUINTIC C² smooth polynomial trajectories
TRAPEZOID Linear segments with parabolic blends
LINEAR Direct interpolation (no smoothing)

Note: RUCKIG is point-to-point only and cannot follow Cartesian paths. When RUCKIG is set, Cartesian moves automatically use TOPPRA instead.

Speed and acceleration

client.moveJ(target, speed=0.5, accel=0.5)   # 50% of joint limits
client.moveL(target, speed=0.25, accel=1.0)   # 25% cart speed, full accel
client.moveL(target, duration=2.0)             # Fixed duration (uses TOPPRA)

Speed and accel are fractions of maximum (0.0–1.0), not percentages.

For Cartesian moves, joint limits stay at 100% as hard bounds—the speed fraction only affects the Cartesian velocity constraint.

Command system

Jog and servo commands (JogJ, JogL, ServoJ, ServoL) automatically use the streaming fast-path — the server de-duplicates stale inputs, reduces ACK chatter, and reuses the active command. Use jog/servo for UI-driven motion or teleoperation; use planned moves (MoveJ, MoveL, etc.) for discrete motions and queued programs.

Command categories

Category Examples Queue ACK Execution
Query PING, GET_STATUS, GET_ANGLES No Request/response Immediate
System RESUME, HALT, SET_IO, SIMULATOR No Always Immediate (even when disabled)
Planned motion MOVEJ, MOVEL, MOVEC, MOVES, MOVEP, HOME Yes With command_index MotionPlanner subprocess → SegmentPlayer
Streaming motion JOGJ, JOGL, SERVOJ, SERVOL Yes Fire-and-forget StreamingExecutor in main loop
Utility DELAY, CHECKPOINT, SET_TOOL Yes With command_index Inline via MotionPlanner (preserves ordering)
Tool action TOOL_ACTION Yes With command_index Inline via MotionPlanner

Command lifecycle

All commands implement the CommandBase protocol:

  • setup(state) → calls do_setup(state): one-time preparation (trajectory computation, target resolution)
  • tick(state) → calls execute_step(state): per-tick execution in control loop, returns EXECUTING, COMPLETED, or FAILED
  • assign_params(params): for streamable commands, updates target without recreating the command

Adding a new command

  1. Create a class under parol6/commands/ and decorate with @register_command(CmdType.YOUR_CMD)
  2. Define a PARAMS_TYPE msgspec Struct for wire validation
  3. Implement do_setup(state) and execute_step(state) — obey hot path rules
  4. Set streamable = True if the command supports high-rate streaming
  5. Add client method to async_client.py and sync_client.py

Kinematics and tools

Uses numerical IK via pinokin (C++/Pinocchio bindings). Some Cartesian targets may fail to solve — J4 is particularly sensitive. To adapt to modified hardware, update parol6/PAROL6_ROBOT.py (gear ratios, limits) and parol6/tools.py (tool transforms).

Currently supported tools (see parol6/tools.py):

  • NONE (bare flange)
  • PNEUMATIC (pneumatic gripper — vertical/horizontal variants)
  • SSG-48 (adaptive electric gripper — finger/pinch variants)
  • MSG (compliant AI stepper gripper — 100mm/150mm/200mm rail variants)
  • VACUUM (vacuum gripper)

Set tool at runtime from the client:

from parol6 import RobotClient
with RobotClient() as c:
    c.set_tool("PNEUMATIC")                            # default variant
    c.set_tool("PNEUMATIC", variant_key="horizontal")  # horizontal pneumatic
    c.set_tool("SSG-48", variant_key="pinch")          # pinch grip
    c.set_tool("MSG", variant_key="150mm")             # 150mm rail

Add a new tool by creating a ToolConfig subclass (or using ToolConfig directly) and calling register_tool("KEY", config) in parol6/tools.py.

Security note: The controller has no authentication — it accepts any correctly parsed command on its UDP port. Multiple senders are supported by design (e.g., GUI + orchestrator), but deploy only on trusted networks.

Environment variables

  • PAROL6_CONTROL_RATE_HZ — control loop frequency in Hz (default 100)
  • PAROL6_STATUS_RATE_HZ — STATUS broadcast rate in Hz (default 50; tests use 20 Hz to reduce CI load)
  • PAROL6_STATUS_STALE_S — skip broadcast if cache is older than this (default 0.5)
  • PAROL6_BUSY_THRESHOLD_MS — busy-loop threshold for loop timing in ms (default 1.0)
  • PAROL6_PATH_SAMPLES — trajectory path sampling points (default 50)
  • PAROL6_MAX_BLEND_LOOKAHEAD — command blending lookahead count (default 100)
  • PAROL6_MCAST_GROUP — multicast group for status (default 239.255.0.101)
  • PAROL6_MCAST_PORT — multicast port for status (default 50510)
  • PAROL6_MCAST_TTL — multicast TTL (default 1)
  • PAROL6_MCAST_IF — interface/IP for multicast (default 127.0.0.1)
  • PAROL6_STATUS_TRANSPORT — MULTICAST (default) or UNICAST
  • PAROL6_STATUS_UNICAST_HOST — unicast target host (default 127.0.0.1)
  • PAROL6_CONTROLLER_IP / PAROL6_CONTROLLER_PORT — bind host/port for controller
  • PAROL6_FORCE_ACK — force ACK for motion commands regardless of policy
  • PAROL6_FAKE_SERIAL — enable simulator ("1"/"true"/"on"); used internally by simulator_on/off
  • PAROL6_COM_FILE — path to persistent COM port file (default ~/.parol6/com_port.txt)
  • PAROL6_COM_PORT / PAROL6_SERIAL — explicit serial port override (e.g., /dev/ttyUSB0 or COM3)
  • PAROL_TRACE — 1 enables TRACE logging level unless overridden by CLI

Development setup

For contributors working on this repository:

pip install -e .[dev]
pre-commit install
  • Run all pre-commit hooks locally: pre-commit run -a
  • Run tests with pytest:
    • pytest
    • Simulator is used by default (PAROL6_FAKE_SERIAL=1).

Control rate and performance

The default control loop rate is 100 Hz (PAROL6_CONTROL_RATE_HZ=100). Higher rates up to 250 Hz and even 500 Hz are achievable, but there are diminishing returns in motion smoothness as you go higher.

Even under complete IK failure (worst-case computation), the control loop typically completes in under 2ms. However, consistent high-rate performance requires consideration of OS scheduling—the operating system commonly interrupts user-space processes, which can cause jitter at higher rates.

Note: Rates above 250 Hz may require increasing IK solving tolerance, as the distance moved per tick becomes smaller and numerical precision becomes a factor.

Tuning for higher rates

For consistent high-rate performance:

  1. Elevate process priority: On Linux, use nice -n -20 or chrt -f 50 for real-time scheduling
  2. Disable logging: TRACE and DEBUG logging add significant overhead
  3. Reduce background load: Heavy background tasks compete for CPU time
  4. Consider CPU isolation: Pin the controller to dedicated cores with taskset

FAQ / Troubleshooting

  • I see Control loop avg period degraded by … warnings
    • The loop is falling behind. Reduce PAROL6_CONTROL_RATE_HZ and ensure TRACE and DEBUG logging is disabled.
  • Motion feels inconsistent or jittery on my machine
    • Lower the control rate; avoid heavy background tasks; disable TRACE and DEBUG logging.
  • Some cartesian targets fail to solve (especially around J4)
    • Without null-space control in the backend, some poses are hard to reach. Re-plan the path, adjust the target, or change the starting posture. Future backend updates may add null-space manipulation.

Safety notes

  • Keep physical E‑Stop accessible at all times when connected to hardware
  • The controller can halt motion via halt() and reacts to E‑Stop inputs when on real hardware
  • Prefer simulator_on() for development without hardware and validate motions before switching to real serial

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Python API for controlling PAROL6 robot

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