[ANDY_F1]

Hi
When generating a program through the C# API I am setting the tool.
The 'Force original pose' option is automatically selected.
How can I deselect this through the API when I generate the instruction for set tool?

I use the code on the instruction at the moment

Program.setInstruction(insID, name, instrType, movetype, jointTarget, target, joints);

问候
Andy

[Jeremy]

I'm transferring this to the API section.

Jeremy

[Albert]

Hi Andy,

We just updated our API so you can use the parameter ForcePose with setParam on a program.
For example, if your instruction to change the tool is the second instruction (index 1), you can do:

Code:

from robolink import *
RDK = Robolink()
p = RDK.Item('', ITEM_TYPE_PROGRAM)

# Modify instruction 2 of program p (Set Tool, instruction id=1)
instruction_data = p.setParam(1)
print(instruction_data)
instruction_data["ForcePose"] = 1 # 1=checked, 0=unchecked
p.setParam(1, instruction_data)

# Or simply apply your desired modification:
instruction_data = {}
instruction_data["ForcePose"] = 1 # 1=checked, 0=unchecked
p.setParam(1, instruction_data)

A more complete example is available here:
//www.sinclairbody.com/doc/en/PythonAPI/exam...structions

[Jeremy]

You need to update RoboDK to the latest version to access this new feature.

Jérémy

[ANDY_F1]

that's great thanks guys