Create CSV_XYZ.py

Author: OxideDevX

CSV_XYZ.py

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+from robolink import *    # API to communicate with RoboDK
+from robodk import *      # basic matrix operations
+
+# Start the with RoboDK
+RDK = Robolink()
+
+# Select the robot
+ROBOT = RDK.ItemUserPick('Select a robot', ITEM_TYPE_ROBOT)
+
+FRAME = RDK.Item('Path Reference', ITEM_TYPE_FRAME)
+TOOL = RDK.Item('Tool Reference', ITEM_TYPE_TOOL)
+if not FRAME.Valid() or not TOOL.Valid():
+    raise Exception("Select appropriate FRAME and TOOL references")
+
+# Check if the user selected a robot
+if not ROBOT.Valid():
+    quit()
+
+# csv_file = 'C:/Users/Albert/Desktop/Var_P.csv'
+csv_file = getOpenFile(RDK.getParam('PATH_OPENSTATION'))
+
+# Load P_Var.CSV data as a list of poses, including links to reference and tool frames
+def load_targets(strfile):
+    csvdata = LoadList(strfile, ',', 'utf-8')
+    poses = []
+    idxs = []
+    for i in range(0, len(csvdata)):
+        x,y,z,rx,ry,rz = csvdata[i][0:6]
+        poses.append(transl(x,y,z)*rotz(rz*pi/180)*roty(ry*pi/180)*rotx(rx*pi/180))
+        idxs.append(csvdata[i][6])
+    return poses, idxs
+
+# Load and display Targets from the CSV file
+def load_targets_GUI(strfile):
+    poses, idxs = load_targets(strfile)
+    program_name = getFileName(strfile)
+    program_name = program_name.replace('-','_').replace(' ','_')
+    program = RDK.Item(program_name, ITEM_TYPE_PROGRAM)
+    if program.Valid():
+        program.Delete()
+        
+    program = RDK.AddProgram(program_name, ROBOT)
+    program.setFrame(FRAME)
+    program.setTool(TOOL)
+    ROBOT.MoveJ(ROBOT.JointsHome())
+    
+    for pose, idx in zip(poses, idxs):
+        name = '%s-%i' % (program_name, idx)
+        target = RDK.Item(name, ITEM_TYPE_TARGET)
+        if target.Valid():
+            target.Delete()
+        target = RDK.AddTarget(name, FRAME, ROBOT)
+        target.setPose(pose)
+        
+        try:
+            program.MoveJ(target)
+        except:
+            print('Warning: %s can not be reached. It will not be added to the program' % name)
+
+
+def load_targets_move(strfile):
+    poses, idxs = load_targets(strfile)
+    
+    ROBOT.setFrame(FRAME)
+    ROBOT.setTool(TOOL)
+
+    ROBOT.MoveJ(ROBOT.JointsHome())
+    
+    for pose, idx in zip(poses, idxs):
+        try:
+            ROBOT.MoveJ(pose)
+        except:
+            RDK.ShowMessage('Target %i can not be reached' % idx, False)
+        
+
+# Force just moving the robot after double clicking
+#load_targets_move(csv_file)
+#quit()
+
+# Recommended mode of operation:
+# 1-Double click the python file creates a program in RoboDK station
+# 2-Generate program generates the program directly
+
+MAKE_GUI_PROGRAM = False
+
+ROBOT.setFrame(FRAME)
+ROBOT.setTool(TOOL)
+
+
+if RDK.RunMode() == RUNMODE_SIMULATE:
+    MAKE_GUI_PROGRAM = True
+    # MAKE_GUI_PROGRAM = mbox('Do you want to create a new program? If not, the robot will just move along the tagets', 'Yes', 'No')
+    
+else:
+    # if we run in program generation mode just move the robot
+    MAKE_GUI_PROGRAM = False
+
+
+if MAKE_GUI_PROGRAM:
+    RDK.Render(False) # Faster if we turn render off
+    load_targets_GUI(csv_file)
+else:
+    load_targets_move(csv_file)