Hi,
in the newest API Version 1.10 i noticed a change in the RobotPositionCallback Interface which now uses PositionParameters to save Waypoints rather than jointpositions and pose which is now flagged as deprecated.
My Question is: how do i create Waypoints with PositionParameters manually?? (e.g. if i get Pose and JointPositions through rti socket )
Is there any Factory Interface i missed or is it missing??
Hi @m.birkholz,
I do not think it is there. Where exactly do you need an instance that is not the one passed to your callback , do you have any specific use case in mind?
Hi @Ebbe,
thanks for your reply. Our Use case is to save waypoints with a Tool IO which gets the waypoint data (pose and jointpositions) from the robot real time interface. There are also other urcap vendor products that work this way.
Therefore, a PositionParameters Facotory Interface is necessary to continue generating Waypoints this way.
Hi @m.birkholz,
Maybe I have missed something. But is your method for creating the Waypoint deprecated?
Hi @Ebbe,
no it’s not ( createFixedPositionConfig
is now overloaded) but i guess the new MotionParameters (and the RobotPositionCallback2) finally fix an issue we have with false inverse kinematics when using API generated waypoints?
I have been in touch with the R&D team. And there is no factory for now. I am not sure if the new method will fix the inverse kinematics issue.
The Issue with the Kinematics is a wrong Pose Result after using the API Interface WaypointNodeFactory. This can be reproduced on the Ellipse Example as well as the integrated Palletizing Node with the Pick/Place Waypoint Assistent.
You can try the following to reproduce the bug:
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Setup a home pose with axis postions(deg) 0,-90,-90,-56.56,90,0 - the robot tool flange now points down to the base plane.
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move the robot to the home position and set the tcp orientation with the asisstant with this pose relative to the base plane - the output should sth like 1.88,-1.88,0.5676:
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set a tcp offset of about 300 mm to z
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select the ellipse urcap and program the center point to the home pose
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the the waypoint node should now display the wrong Pose: