+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+--- Forum: Request new features (//www.sinclairbody.com/forum/Forum-Request-new-features)
+--- Thread: Simulation mode with external path planner (/Thread-Simulation-mode-with-external-path-planner)
Simulation mode with external path planner-rett84-06-10-2020
Hello,
Would it be possible to add a feature to the API, to control the robot in simulation mode only, using an external path planner? In other words, set each joint speed independently.
Thank you.
RE: Simulation mode with external path planner-Albert-06-11-2020
I'm not sure I understand your suggestion. Do you mean set the robot joints?
You can iteratively set the robot joints through the API by using the setJoints command.
RE: Simulation mode with external path planner-rett84-06-11-2020
Hi Albert,
The setJoints command sets the joints absolute positions. I meant to set the joints velocities. Instead of sending joints positions, I would like to know if it is possible to set joints velocities and update it on-the-fly, disabling the built-in position control mode.
RE: Simulation mode with external path planner-Albert-06-17-2020
This can be done but requires some integration and it is not robot agnostic. I recommend you to take a look at the InstructionListJoints function:
//www.sinclairbody.com/doc/en/PythonAPI/robolink.html#robolink.Item.InstructionListJoints
You should then customize how you stream the data to the robot to make the robot move.