[sonchulho96]

I am tring to extract each Joint's angle of 6 axes industrial robot to Python code.



Is there any way to extract it???

[Maarten]

I think the Joints() command is what you're looking for:

https://robodk.com/doc/en/PythonAPI/robo...tem.Joints

[sonchulho96]

Thank you!! This is what I am looking for !

I am also looking for other postures of the robot.("Other configurations" in the picture)

Do you know to extract these postures??

[Maarten]

I think you can use SolveIK_All() for that:

https://robodk.com/doc/en/PythonAPI/robo...olveIK_All

Code:

robot = RDK.Item('YourRobot',ITEM_TYPE_ROBOT)
all_solutions = robot.SolveIK_All(robot.Pose(),robot.PoseTool(),robot.PoseFrame())
print(repr(all_solutions))

[sonchulho96]

Thank you so much !!