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Simulation Timestep and TCP position - record


I am working on a project for which I need the position and orientation of the robot for all the simulation time steps. I tried in Robolink API documentation for a function but I couldn't find it. Are there any options available to record the position and orientation of the Tool frame?

Additionally, please mention if there is any option to measure the timestep, acceleration, and velocity of the TCP for the simulation timestep?

There is a small example called  Monitor_TCP_Speed in C:/RoboDK/Library/Macros. I believe it is pretty close to what you are trying to achieve.

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