Hello, i would like to request the following feature: Getting JointAngles from Waypoints (not only poses) for CB-Series. The Waypoints are stored as Jointangles and Pose but the user has only the ability to access the Waypoints as poses. I would like a function like get_waypoint_joint_position…

There is the function “get_inverse_kin” in urscript. Is there what you hope the other for getting joint angles?

Hello, thank you for the answer. I know this function but for a pose there are more possible results in joint-space so this is not a safe solution. As the system internally knows the correct values there is no need to “guess” or calculate the joint angles. Regards

If you are moving to a Waypoint with moveJ the compiler adds the qnear info without you seeing it, but it is internally saved: movej(get_inverse_kin(p[.421822130402, -.176491186898, .624648104564, 1.388170442533, 2.786614753244, .002110296279], qnear=[-0.023263279591695607, -1.2242539564715784, -1.…

Hi, that is exactly what we need for several use cases in our projects, so thumbs up for this feature👍🏻

Agree, this would be a nice feature to have. :+1:

Lack of this feature has caused some anomalies for us in the past, so its a +1 from me

I am sorry I didn’t understand what you said. I finally understand. The inverse kinematics has a maximum of 8 solutions. I also think that the feature to obtain qear is important. By the way, if the poses are defined as patterns of numbers, I hope the argument of pattern may be able to be added …

Agree, It would solve some problems, for wich we have to add extra waypiont to avoid. [image] fujikit: Ex. movej(p[0.2, 0.3, 0.04, 0, 3.14, 0], pattern = 3) I have seen commands like this in other brands and works nicely. would be good to have it here.

hey, As a workaround, you can use your own custom waypoint that mimics the funcktionallity of the Waypoint, and then save the JointPositions from this. We have implemented this, although you can’t use the funktion that request the user to auto/manually move the robot to the first waypoint when star…

Hi. It is possible that you decide the direction of first move as alternative. Please try to use this sample. [image] URCap Sample: Go Safety Home URCap URCap Development Go Safety Home URCap Description of functionality: The feature of this urcap is that the way to g…

Getting JointAngles from Waypoints

Product Wishlist

Ebbe March 17, 2021, 8:52pm 20

Thank you so much for your feedback on this topic. We have listened and implemented this in the latest version. See more detail here

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Getting JointAngles from Waypoints

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