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How to export data of Joint Properties from Kinematics Editor (about ps13.0)

Hi All:

    For some reasons, I want to export the data of Joint Properties from Kinematics Editor (about ps13.0).

Firstly,Click "Set Modeling Scope"Set Modeling Scope.png, Then Click "Kinematics Editor" Kinematics Editor.png

The UI shows as below:

JointProperties.png

Is there any API for user to get the Joint Properties?

3 REPLIES
Solution
Solution
Accepted by topic author JamesLiu
‎03-09-2017 09:30 PM

Re: How to export data of Joint Properties from Kinematics Editor (about ps13.0)

Hi,

 

Yes there is an API.

Check this: ITxKinematicsModellable.Joints

 

It is implemented by all sorts of TxObects, e.g., TxDevice, TxRobot.

This property returns a TxObjectlist containing objects of type TxJoint.

TxJoint exposes all sort of joint properties.

Example:

List<double> GetAllJointsMaxSpeed(TxRobot robot)
{
       List<double> maxSpeeds = new List<double>();
       foreach(TxJoint joint in robot.Joints)
       {
            maxSpeeds.Add(joint.MaxSpeed);
       }

       return maxSpeeds;
}

Kind regards,

Zachi

Re: How to export data of Joint Properties from Kinematics Editor (about ps13.0)


Zachi_Mann wrote:

Hi,

 

Yes there is an API.

Check this: ITxKinematicsModellable.Joints

 

It is implemented by all sorts of TxObects, e.g., TxDevice, TxRobot.

This property returns a TxObjectlist containing objects of type TxJoint.

TxJoint exposes all sort of joint properties.

Example:

List<double> GetAllJointsMaxSpeed(TxRobot robot)
{
       List<double> maxSpeeds = new List<double>();
       foreach(TxJoint joint in robot.Joints)
       {
            maxSpeeds.Add(joint.MaxSpeed);
       }

       return maxSpeeds;
}

Kind regards,

Zachi


Hi Zachi:

     Thank you for your reply.

 

But in my project code, I can not find TxRobot object.

 

My project implement from CApDefaultLibRobot abstract class . 

 

    public abstract class CApDefaultLibRobot : COlpUtilRobot
    {
        public CApDefaultLibRobot(COlpUtilRobot robot);

        public StringCollection AvailableWorkToolNames { get; }
        public StringCollection AvailableZoneNames { get; }
        public override TxFrame RrsWorldFrame { get; }

        protected override string ComputeManualRrsConfigString(COlpUtilLocation loc, TxRobotConfigurationData config, TxPoseData jointSolution);
        public TxFrame GetToolFrameFromName(string toolFrameName);
        protected override void Init();
        public override void WrapLocation(ref COlpUtilLocation loc);
    }

And in the COlpUtilRobot class I also can not find TxRobot object.

 

So, How can I get the TxRobot object?

 

Re: How to export data of Joint Properties from Kinematics Editor (about ps13.0)

Might be try:

CApDefaultLibRobot defLibRobot = ....;
....
TxRobot robot = defLibRobot.TxObject as TxRobot;