[andreatrentadue]

Hi everyone,
I have a problem and I would like to see if it can be solved through the RoboDK API. I have a TXT file with the poses that the UR5 robot needs to reach, and I want to convert these into joint angles to send to the robot as setpoints in the virtual environment. Additionally, given the kinematic model of the robot in the libraries, I would like to know how to determine which positions are reachable and which are not, while avoiding collisions with surrounding objects present in my environment with API.
Can anyone help me with this?

[Sam]

The RoboDK API has all the tools you need to import poses from a file, as well as check for reachability/collisions.

You can find an example on loading from a file here:
https://robodk.com/doc/en/PythonAPI/exam...ram-xyzwpr

You can find an example of motion checks here:
https://robodk.com/doc/en/PythonAPI/exam...easibility