[MarcGondran]

Hi,

I experience issue while programming a path with robodk. My station looks like instation png. My code looks like this :

---

Code:

"""
Control the robot via the RoboDK Python API

Parameters
----------
htm = (n,4,4)
Homogeneous Transformation Matrices from the base to the tool holder of every positions
speed : (n-1) float
speed between each position
"""

RDK = Robolink()
copyfile("..\Ressources\RDKFiles\CTTLab.rdk", "..\Ressources\RDKFiles\Test.rdk")
RDK.AddFile("..\Ressources\RDKFiles\Test.rdk")
robot = RDK.Item('KUKA KR 100-2 P', ITEM_TYPE_ROBOT)
if not robot.Valid():
raise Exception('No robot selected or available')

reference = robot.Parent().Parent()

# Create a new program
program = RDK.AddProgram("Test", robot)

# Turn off automatic rendering
RDK.Render(False)

# Specify the reference frame you want to use
program.setPoseFrame(reference)

# Define a reference pose
targetname = 'Target Home'
target_home = RDK.AddTarget(targetname, reference, robot)
target_home.setJoints(robot.SolveFK(robot.JointsHome()))
program.MoveJ(target_home)

targetname = 'Target 0'
target = RDK.AddTarget(targetname, reference, robot)
target.setAsCartesianTarget()
target.setPose(htm[0])
program.MoveJ(target)

for i in range(htm.shape[0] - 1):
targetname = 'Target %i' % (i + 1)
target = RDK.AddTarget(targetname, reference, robot)
target.setPose(htm[i+1])
program.setSpeed(speed[i])
program.MoveJ(target)

program.RunProgram()

I get a error : AttributeError: 'numpy.ndarray' object has no attribute 'isHomogeneous'
I overcome this by remplacing htm[i] by KUKA_2_Pose(Pose_2_KUKA(htm[i+1])). But it doesn`t seems to be the proper way.
When running the corrected program, i get an error that the target is out of reach. as shown in the picture enclosed.

Do you have an idea of where it can come from ?

I tried another solution. Indeed, I added the following :
target.setAsJointTarget()
The rail finally move to reach the target but it doens't reach the proper target.

Thank you