Export Path Recording's Data

Catherine_Bernier

I got this question from a customer: If I record a path for the robot to follow can it be exported out of the robot to be used for other purposes?

Can you help on this @Nicolas_Lauzier and @PierreOlivier_Proulx?

Thanks!

PierreOlivier_Proulx

Once the path node is recorded, it is translated in a series of urscript instructions. You can look at the generated script in the .script file. So yes you can export a path in the form of the generated urscript.

FYI. Generated urscript files are copied in the same folder where resides the urp file. They are generated once the play button is pressed.

PierreOlivier_Proulx

If you only want to run it on another robot, copy the urp file on the controller and run it. Note that you need to have the URCap installed on that computer.

Nicolas_Lauzier

One more thing: running on robot B a path recorded on one robot A will not work well if precision is required as the exact path played will depend on the calibration of the two robots. However, it will work fine if the application is an imprecise path such as for painting.

Catherine_Bernier

Can you also remotely export the data? Using this feature: https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/remote-control-via-tcpip-16496/

Annick_Mottard

@Catherine_Bernier , you are right! You can access the sensor's forces and torques output data by using the method you mentioned. You need to use TCP port 63351 (detailed here). With the sensor's Data Stream, you will get exactly what your UR program gets from the FT 300 or FT 150. You simply need to export those values in the desired format and perform the analysis you need for your application.

Tim_Smith

If you are able to export the data from a given Path Recording, would you be able to see all the Waypoints saved in the path? I was thinking about trying to export the data from a Path Recording and modifying certain Waypoints to edit the recorded path. Is this something that is possible?

PierreOlivier_Proulx

That won't be an easy task. The waypoints are translated in the script file so editing this script will modify the path. However, you won't be able to play it back through Polyscope. Only by sending the script to the primary/secondary/realtime server.

Sebastien

@Tim_Smith @PierreOlivier_Proulx @JeanPhilippe_Jobin
What would be a nice to have is being able to export the recorded path to a DXF file. Then we could use cad software to modify the path (rounding edges, removing unwanted motion and so on). We could then send back the modified DXF to the robot and reuse it. There is already some softwares available that would make the DXF to URP program. What do you think?

JeanPhilippe_Jobin

@Sebastien
Interesting! Let me see with our team what is possible to do.

Sebastien

@JeanPhilippe_Jobin
Here is a DXF to URP software that I found online. Any pros used this software before? How does it handle unreachable positions?