Hello,
I am generating pick-and-place robot programs using the Python API, by programmatically creating robot motion statements.
At the moment, these motions do not consider collisions. To address this, I would like to use the Check Paths tool and the Path Solver, which I am able to execute successfully from the .NET API.
Below is an example of the .NET API code used to run collision checking and solve paths:
double success_rate = RoPath.RunPathCheck(StmtScope.Selected);
RoUtils.PrintMsg("success rate: " + success_rate);RoPath.SolvePaths(RoUtils.GetActiveRobot(), PathKind.Via, StmtScope.Selected);
In this case, StmtScope.Selected refers to the statements currently selected in the Visual Components UI.
My questions are:
-
Is there a Python equivalent of
StmtScope.Selected, or a way to programmatically specify which motion statements should be checked and solved? -
If this functionality is not exposed in the Python API, what would be the recommended workflow to perform collision-free path solving for robot motions generated via Python?
Thank you in advance for your help.
Best regards,
Ronaldo Cachi