[Keisuke.Sakai]

Hi,
RoboDK team

We have created a simple program to move between two points in the UR simulator.
When I imported it into RoboDK, I got the attached error.

The script file contains the following contents.
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def test():
set_gravity([0.0, 0.0, 9.82])
set_tool_communication(False, 115200, 0, 1, 1.5, 3.5)
set_tool_output_mode(0)
set_tool_digital_output_mode(0, 1)
set_tool_digital_output_mode(1, 1)
set_tool_voltage(0)
set_standard_analog_input_domain(0, 1)
set_standard_analog_input_domain(1, 1)
set_tool_analog_input_domain(0, 1)
set_tool_analog_input_domain(1, 1)
set_analog_outputdomain(0, 0)
set_analog_outputdomain(1, 0)
set_input_actions_to_default()
set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = 0.0
thread Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47():
while (True):
step_count_5da776d0_589c_44d5_b4ba_bea618676232 = step_count_5da776d0_589c_44d5_b4ba_bea618676232 + 1.0
sync()
end
end
run Step_Counter_Thread_71731e0d_ea82_4223_8bec_d743c846fe47()
set_target_payload(10.000000, [0.000000, 0.000000, 0.100000], [0.071450, 0.071450, 0.071450, 0.000000, 0.000000, 0.000000])
set_safety_mode_transition_hardness(1)
global Waypoint_1_p=p[-.189631536923, -.609683881651, .260971148694, -.001221359682, 3.116276528482, .038891915637]
global Waypoint_1_q=[-1.6006999999999998, -1.7271, -2.2029999999999994, -0.8079999999999998, 1.5951, -0.030999999999999694]
global Waypoint_2_p=p[-.115889203599, -.609683881608, .260971148693, -.001221359682, 3.116276528480, .038891915640]
global Waypoint_2_q=[-1.479524814060909, -1.7004887283586072, -2.2363309091562567, -0.798154264675464, 1.5980294373670005, 0.09018009372375337]
while (True):
$ 1 "Robot Program"
$ 2 "MoveJ"
$ 3 "Waypoint_1" "breakAfter"
movej(get_inverse_kin(Waypoint_1_p, qnear=Waypoint_1_q), a=1.3962634015954636, v=1.0471975511965976)
$ 4 "Waypoint_2" "breakAfter"
movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)
end
end

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Please tell me the cause.

Best Regards,

Keisuke Sakai

[Albert]

Hi Keisuke,

RoboDK supports importing simple robot program files. Your program contains inverse kinematics calculations that are not recognized by RoboDK. In your specific case, you could replace the inverse kinematics calculation by their corresponding pose targets. Example:

Code:

You could manually change it to this:
movej(p[-1.479524814060909, -1.7004887283586072, -2.2363309091562567, -0.798154264675464, 1.5980294373670005, 0.09018009372375337], a=1.3962634015954636, v=1.0471975511965976)

Instead of:
movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)