Trigger inverse kinematics solver after position matrix change

Extensions and Python Add-ons
1

Hi!

In my plugin i am trying to move the a robot (Kassow), by changing it’s position matrix. And after every move i want to check if the robot reaches all of the points in the routine.
Now when i try to get the joint angles using InternalJointValues it always returns the joint values from the original position.

Is there a way i can manually trigger the inverse kinematic solver, or an other way to achieve my goals?

Here is relevant part of the code, i’ve been doing:

def MoveComponentRel(component, x=0, y=0, z=0):  # vcComponent, float, float, float
    vec = vcVector.new(component.PositionMatrix.P.X+x, component.PositionMatrix.P.Y+y, component.PositionMatrix.P.Z+z)
    m = component.PositionMatrix
    m.P = vec
    component.PositionMatrix = m
    app.render()
    simu.update()

robot #vcComponent from different part of the code
robot_obj = getRobot(robot)
MoveComponentRel(robot, step_x, 0, step_z)

for statement in robot_obj.Program.MainRoutine.Statements:
    if statement.Type != VC_STATEMENT_LINMOTION and statement.Type != VC_STATEMENT_PTPMOTION: break
    for point in statement.Positions:
        for i, joint in enumerate(robot_obj.Joints):
            JOINTS_VALUES_POINT[joint.Name] = point.InternalJointValues[i]
            print(point.Name, joint.Name, point.InternalJointValues[i])
            if point.InternalJointValues[i] < int(joint.MinValue) or int.InternalJointValues[i] > int(joint.MaxValue):
                outofreach += 1

Tom

2

Hello,
Instead of getting a statement’s joint values from vcPositionFrame object, use vcRobotController.createTarget(matrix) and read the joint values from the returned vcMotionTarget object.
vcRobotController
vcMotionTarget

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