Mismatch between simulation and generated code (Joint motion → movl instead of movj)

[Ahmed-Ali-khalaf]

Hi,

I’m working with the JAKAminicobo in Robots, and I noticed a mismatch between the Grasshopper simulation and the generated robot code:

In simulation, when I set a Joint motion, the robot moves correctly as expected.

But in the generated code, the motion is translated into a movl (linear) command instead of movj.

On the real robot, it still executes linear moves, not joint moves.

I opened the the robot PostProcessor code and saw that in the Targets code function, the logic seems to default to movl in some cases, even when the motion type is set to Joint.

My question:

Is this a bug in the postprocessor, or is there a specific reason why Joint motion ends up as movl in the generated code?

If it’s a bug, should I adjust the motion handling in the postprocessor and make a pull request?

I am really new to this and almost know the basics, so any information will be a great help :)

Thanks in advance,

[visose]

@uwewoessner added support for this robot. Hopefully he reads this and replies.

[uwewoessner]

Dear Ahmed,
I only tested linear motion because that was the only thing I needed.
Consider it a copy-paste bug and feel free to fix the code so that it generates movej.

[Ahmed-Ali-khalaf]

Thanks a lot for your reply!

I opened the JKSPostProcessor inside robots.dll to check the code and found the section where Motions.Joint still outputs movl.
However, since I’m still new to Grasshopper and the Robots library, I’m not sure how to properly edit or rebuild the postprocessor.

From what I understand, the postprocessor is compiled inside the Robots library, so I can’t directly modify it.
Could you please advise what’s the correct way to make and use a modified postprocessor?
Should I rebuild the whole Robots project from source and replace the JKSPostProcessor class there, or is there an easier way to load a custom postprocessor externally?

Thanks again for your help!