[amartinmestres]

Hello , can I access to the points of a point follow projects one by one (like individual targets) from de c# api?
Thanks!

[Jeremy]

Hi Amartinmestres,

You'll have to clarify your question a bit.

If you didn't create a Curve Follow Project (CFP) the points are available from "GetPoints": https://robodk.com/doc/en/PythonAPI/robo....GetPoints

If your CFP is already created and updated, you can extract the target from the created program. If you right-click the program in the UI and select "show instruction" you will see all the instructions.
You can then select any Move, right-click and "select target" to extract the target. The same data should be available from the API I believe.

Jeremy

[amartinmestres]

Ok thanks

[Jeremy]

Hi Amartinmertres, 

According to the documentation, MoveJ and MoveL accept 3 types of positional information.  https://robodk.com/doc/en/PythonAPI/robo...Item.MoveL
1 - A target
2 - List of joints
3 - 4X4 matrix 

So something like 
prog.MoveL(Pose) should be enough. No need to create the target itself. 

According to this example (https://robodk.com/doc/en/PythonAPI/exam...structions), you can feed that information directly to the Move in your program.

Code:

elif instruction_dict['Type'] == INS_TYPE_MOVE:
       print("Move instruction: use setInstruction to modify target")
       #ins_name, ins_type, move_type, isjointtarget, pose, joints = prog.Instruction(ins_id)
       #prog.setInstruction(ins_id, ins_name, ins_type, move_type, isjointtarget, pose, joints)

[amartinmestres]

In the link you sent it's say
"Move a robot to a specific target (“Move Joint” mode). This function waits (blocks) until the robot finishes its movements. If this is used with a program item, a new joint movement instruction will be added to the program. Important note when adding new movement instructions to programs: only target items supported, not poses"

I can't add a instructions with a pose only with a item traget and it's too slow

[Jeremy]

Hi There,

Sorry for that.

Have you try turning down the render before starting your script and turning it on again afterward?

RDK.Render(False)

(Code)
(You need to add RDK.Update() after you move a target or an object)


RDK.Render(True)