[Albert]

I'm sorry to hear you had a crash. There is a strange issue with your Tool 1. For some reason, the tool does not hold a homogeneous pose. This means the orientation part of the pose is broken. You can find this out by following these steps:

1. Double click Tool 1
   
2. Select the Copy icon
   
3. Select the Paste icon
   

You'll see a message saying "The matrix has been modified to match homogeneous matrix properties". This is related to the TCP orientation properties being incorrect. This could have happened for many reasons (pasting the full pose from a text file, using the API).

I attached the RDK project file with this fix. If you try filtering the program afterwards it should work without issues.

How did you teach your TCP? Did you use a specific add-in or custom script? We can better investigate to prevent this from happening again.

We just updated RoboDK for Windows and you should now see warning messages when you try to filter programs and this issue is detected.

I would still recommend you to use APT files instead. It is more clear for RoboDK to undertsand what Tool and Base frames you are using.