EDIT: I should have used getPositions, not getAngle…
Software version: …
3.9.1.64192
Robot generation: …
CB3.1 UR10 and Simulator
Steps to reproduce:
-
First step
private JointPositions jointPositionsToSave = null; private void requestPosition() { getUserDefinedRobotPosition(new RobotPositionCallback() { @Override public void onOk(Pose pose, JointPositions q) { jointPositionsToSave = q; JointPosition[] temp = q.getAllJointPositions() ; //(Length.Unit.M, Angle.Unit.RAD); double[] joints = {0,0,0,0,0,0}; joints[0]= temp[0].getAngle(Angle.Unit.RAD); joints[1]= temp[1].getAngle(Angle.Unit.RAD); joints[2]= temp[2].getAngle(Angle.Unit.RAD); joints[3]= temp[3].getAngle(Angle.Unit.RAD); joints[4]= temp[4].getAngle(Angle.Unit.RAD); joints[5]= temp[5].getAngle(Angle.Unit.RAD); System.out.println("Pose: " + currentPose.toString() + "\t\t Joints: " + "["+joints[0]+","+joints[1]+","+joints[2]+","+joints[3]+","+joints[4]+","+joints[5]+"]"); } public void onCancel() { //Nonsense } } } private void autoMoveJRobotTo(JointPositions jointPositions) { robotMovement.requestUserToMoveRobot(jointPositions, new RobotMovementCallback() { @Override public void onComplete(MovementCompleteEvent event) { System.out.println("Automove complete!"); } public void onError(MovementErrorEvent error) { System.out.println(error); JOptionPane.showMessageDialog(null, "An error occured while moving the robot. Check the log.", "Error on Movement", JOptionPane.ERROR_MESSAGE); } public void onCancel(MovementCancelEvent cancel) { System.out.println("Automove cancelled."); } }); } -
Second step…
Add this in a URCap Installation and call first the requestPosition() and read the output of the print, then if you want to make it more clear, once that is done, call autoMoveJRobotTo(jointPositionsToSave)
In my example I set it to:
p[0.100,0.150,0.200, 0 ,3.14159256, 0] which is around 95°, -50°, -131°, -89°, 90°, 185°.
Expected behavior:
Should print out exactly the joint positions shown on screen when Operator press OK and getUserDefinedRobotPosition runs onOk.
In my example, it should be:
Pose: p[0.09999999199817852,0.14999999752877413,0.2000000221683304,8.173535719548361E-7,3.1415926277801023,-3.2333374544107616E-7]
Joints: [1.6556288003921509,-0.8674853483783167,-2.2916136423694056,-1.5532901922809046,1.5707963705062866,3.2264256477355957]
Should also not move when calling the requestUserToMoveRobot if operator hasn’t moved it, it should just give the popup that the Robot is already in that position.
Actual behavior:
This is what I set it to:
It then prints out:
Pose: p[0.1000000079147788,0.1499999988822671,0.20000002216833065,8.173535357949963E-7,3.1415925617327454,-3.074675579535917E-7]
Joints: [1.6556288176745633,5.415699900933667,3.9915716089427438,4.729895148111645,1.5707962903693784,3.226425590288836]
Basically:
p[0.100,0.150,0.200, 0 ,3.14159256, 0] and around 95°, 310°, 229°, 271°, 90°, 185°.
So the Auto movement would need to twist the robot in an unrealistic way:
And here is the Move Joints interface, it wants to move from:
To:
Same pose, completely different joint positions. My assumption is that the function only saves the pose and then makes an inverse kinematics calculations (Even though it should just record the values straight?)
Ofc a workaround for anyone with the same problem is to get the joint positions from the socket interfaces, as we had been doing til now.
