Programming Path Statement in Python

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This topic contains 2 replies, has 3 voices, and was last updated by zesty zesty 6 months, 2 weeks ago.

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  • #2393

    bluigi21
    Participant

    Instead of Teaching a path of positions I want to create it within a python script.

    Currently I read the positions from a file, create VC_Compactlineset and program the path statemant via the Robot-Program-Editor and edit motion marameters or the point density.

    I know how to create a statement but I don’t know how to fill it with positions and how to edit the statement’s parameters and modify each point in python api.

     

    #2396

    pat.rick
    Participant

    Maybe the following code snippet could be helpful for your. It creates a target using the current robot position and sets it as the statement’s position:

    active_robot = app.TeachContext.ActiveRobot
    controller = active_robot.getBehavioursByType('rSimRobotController')[0]
    new_target = controller.createTarget()
    statement.Base = new_target.BaseName
    statement.Tool = new_target.ToolName
    statement.Name = "Statement's Name"
    statement_position = statement.createPosition("Position's name") #this string is shown within the 3D-View 
    statement_position.PositionInWorld = new_target.Target
    statement_position.setJoints(new_target.JointValues)
    
    #2399
    zesty
    zesty
    Participant

    Schema is used to manage positions of path statement. Unfortunately, the Python API for path statement is still in development. A video tutorial on this topic will be made once the API is made available to end users.

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