[nicok]

I have a sphere attached to my tool as a separate object which I want to track. It would be optimal if this was possible either by using "Trace" or "Display Path" but I am open to other solutions as well. To be clear, I don't need to track the TCP at the same time (but it would be a nice plus).

Is it possible to track or display the path of objects that are not the active tool? If so what do I need to call for that?

Best regards
Nico

[Albert]

It is not possible to track the trace of non active tools by using the user interface but you could use the RoboDK API.

On the other hand, you could have a script running in an infinite loop adding points or targets as the robot moves.

Example:

Code:

frame = robot.Parent()
while True:
 posei = robot.SolveFK(joints) * tool.PoseTool()
 tracei = RDK.AddFrame("Frame", frame)
 tracei.setPose(posei)

Also, this example is a good start point that shows how you can monitor the robot joints in an infinite loop while checking the robot joints changed before adding a new target or frame:
C:/RoboDK/Library/Macros/MonitorJoints.py