I have a problem importing trajectories into RDK from my Python script when I want to have the position data displayed in relation to a custom coordinate system as a reference frame. However, if I use the global coordinate system in RDK (reference_object=0) everything works fine. As soon as I change the coordinate system, I get the error:
and
I think the format of the Data is correct and the reference frame with the name "Rahmen99" is already created in RDK :(
I am showing you this script as a not working example script with the hope someone can help me:
Code:
WARNING: Invalid curve, a 3xN (or 6xN) list of points must be provided
Code:
Exception: Invalid item provided: The item identifier provided is not valid or it does not exist.
I think the format of the Data is correct and the reference frame with the name "Rahmen99" is already created in RDK :(
I am showing you this script as a not working example script with the hope someone can help me:
Code:
from robodk.robolink import * # Import RoboDK API
from robodk.robomath import * # Import für Mat, etc.
import numpy as np
RDK = Robolink()
roboter = RDK.Item('UR10e', ITEM_TYPE_ROBOT)
RUN_ON_ROBOT = True
roboter.setConnectionParams('192.168.1.50', 50002, '/programs/', 'root', 'easybot')
# Referenzrahmen finden
frame = RDK.Item('Rahmen99', ITEM_TYPE_FRAME)
if not frame.Valid():
raise Exception("Referenzrahmen 'Rahmen99' nicht gefunden!")
# Punkte definieren: XYZ Positionen in mm (relativ zu Rahmen99)
kurven_punkte = [
[100, 0, 200],
[200, 100, 200],
[300, 0, 200]
]
#kurven_punkte = robomath.Mat(punkte_matrix)
# Kurve im RoboDK erstellen (als Objekt)
kurve = RDK.AddCurve(kurven_punkte, frame, add_to_ref=False, projection_type=0)
if roboter.Valid():
path_settings = RDK.AddMillingProject("Bewegungstest_Pfad")
prog, status = path_settings.setMillingParameters(part=kurve)
prog.RunProgram()