#这个宏将记录机器人关节(degrees) in a CSV file (including a time stamp in seconds). This file avoids recording the same joints twice. # Tip: Use the script JointsPlayback.py to move along the recorded joints from robolink import * # API to communicate with RoboDK from robodk import * # basic matrix operations from time import gmtime, strftime RDK = Robolink() # Ask the user to select a robot arm (mechanisms are ignored) robot = RDK.ItemUserPick('Select a robot',ITEM_TYPE_ROBOT_ARM) if not robot.Valid(): raise Exception("Robot is not available") # Generate a file in the same folder where we have the RDK file file_path = RDK.getParam('PATH_OPENSTATION') + '/joints-' + strftime("%Y-%m-%d %H-%M-%S", gmtime()) + '.csv' def joints_changed(j1, j2, tolerance=0.0001): """Returns True if joints 1 and joints 2 are different""" if j1 is None or j2 is None: return True for j1,j2 in zip(j1,j2): if abs(j1-j2) > tolerance: return True return False # Infinite loop to record robot joints joints_last = None print("Recording robot joints to file: " + file_path) with open(file_path,'a') as fid: tic() while True: time = toc() joints = robot.Joints().list() if joints_changed(joints, joints_last): print('Time (s): ' + str(time)) fid.write(str(joints)[1:-1] + (", %.3f" % time) + '\n') joints_last = joints pause(0.01)