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giannis_letgiannis_let Posts: 9 Apprentice
Is there an option inside the polyscope to export the cycle time of the simulated robot? I run a script and the simulated movement is perfect, but where is the cycle time estimation data?

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  • Nicholas_FrancoeurNicholas_Francoeur Posts: 93Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Hi @giannis_let,

    I suggest you simply use a thread with a counter that will be running as a timer:

    Main Program
    timer = 0
    ...
    cycle_time = timer

    Thread
    timer = timer + 0.008
    sync()

    Note that if you're running on an e-Series you should increment by 0.002s.
    Nicholas Francoeur
    Co-Founder | Vanguard Robotics
    e:   [email protected]
    w:  vanguard-robotics.com
  • matthewd92matthewd92 Posts: 958Founding Pro, Tactile Sensor Beta Testers Handy
    UR does not have cycle time estimates, the best way is to add a thread in the background.  You can then control when to turn on the timer and where in the program you want to capture sub-times, total time, etc.
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