Export Joint Angles of assembled components

[Anonymous]

I have modeled and assembled my 7 dof Modular Robotic Arm and want to export the joint angles to a file or through serial port to directly control a robot. All I need is to get all the joint angles of my robot at a certain position. I noticed that there are joint angles represented while I am moving my bot in model space. That is exactly the angles I need. Please refer to the Image below.

[goyals · Accepted solution]

May be you can get all joints from root component and then iterate over each join to get the angle. I have not verified but below script might work

app = ask.core.Application.get()

root = app.activeProduct.rootComponent

joints  = root.joints

for joint in joints:

   angle = joint.angle

If you want angle of a specific joint then may be you can name your joint using name property then during iteration only look for joint with a particular name.

[Anonymous · Accepted solution]

Thank you so much for the reply. It is important to note though that if you made your joints using as built joints, you must use for joints in .asBuiltJoints: instead. It is what happened to my code which did not work at first until I change the syntax. Now on to sending the angles through serial port for online robot control.

[Anonymous]

Hello,

did you manage to create a script to export the joint angles.

I would be very interested to use this script.

Thanks