[Hiroe]

Hello,

Is it possible to output values for joint position, speed, and acceleration as time-series data?

I think it is possible, but I cannot find where I can refer.

Best Regards,

Hiroe Ota

[Vineet]

Hello,

You can use the InstructionListJoints() method to get the time series.

More information on following links:
//www.sinclairbody.com/doc/en/PythonAPI/robo...ListJoints
//www.sinclairbody.com/doc/en/CsAPI/api/Robo...sType.html

Code:

from robolink import * # RoboDK API
from robodk import * # Robot toolbox

RDK = Robolink()

robot =RDK.Item('',ITEM_TYPE_ROBOT)
program =RDK.Item('',ITEM_TYPE_PROGRAM)
message,data,success = program.InstructionListJoints(mm_step=1, deg_step=2, save_to_file=None, collision_check=0, flags=4, time_step=0.1)
#J1, J2, ..., Jn, ERROR, MM_STEP, DEG_STEP, MOVE_ID, TIME, X_TCP, Y_TCP, Z_TCP, Speed_J1, Speed_J2, ..., Speed_Jn,Accel_J1, Accel_J2, ..., Accel_Jn]

speed_j1 = data[14]
speed_j2 = data[15]
speed_j3 = data[16]
speed_j4 = data[17]
speed_j5 =数据[18]
speed_j6 = data[19]

print(speed_j1)

Hope this helps you.