motionfiles

Recorded joint trajectories that the motion player replays, one file per motion.

  less than a minute  

The motionfiles directory holds recorded joint trajectories. The motion player reads them and replays them on the machine, one file per motion.

└── motionfiles
    ├── 00_ExampleFile.csv
    └── 01_ExampleFile.csv

The directory is named by the MotionPlayer block in config.json, and the feature is off until you enable it there:

"MotionPlayer": {
  "Enable": false,
  "Path": "motionfiles",
  "Linking": "linking/motion-player.link.json"
}

File format

Despite the .csv extension the columns are separated by spaces, not commas. A file has a loop directive, a comment line naming the columns, and one row per sample:

loop = 0
# Time Axis1 Axis2 Axis3 Axis4 Axis5 Axis6
0 0.000113638411942 5.6819205971163E-05 -0.000106073529199 0.00113638411942 0.000568192059712 -0.00106073529199
0.01 0.000113638411942 5.6819205971163E-05 -0.000106073529199 0.00113638411942 0.000568192059712 -0.00106073529199
0.02 0.000113638411942 5.6819205971163E-05 -0.000106073529199 0.00113638411942 0.000568192059712 -0.00106073529199

The first column is time in seconds and each further column is one axis, so a six-axis robot has seven columns. The two shipped example files step time in 0.01 s increments over 30.28 s, which is 3 029 samples at 100 Hz. Exponent notation (5.68E-05) is accepted.