IRBCAM CSV Import Format:
x, y, z, rz1, ry, rz2, motion_type, velocity, tool_number, spindle_speed
10, 12.2, -2, -4.4, -0.1, 0, 0, 0.45, 4, 100.0
9.5, 13, -3.4, -4.2, 0.1, 0, 1, -1, 3, 150.0
10.5, 12.25, -2.5, -4.45, -0.15, 0.5, 0, 1, 4, 0.0
motion_type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rz1) * RotY(ry) * RotZ(rz2). velocity is in mm/sec.x,y,z are in mm. A velocity of -1 means a rapid move (no contact with the material), and it can be defined inside IRBCAM. rz1,ry,rz2 are in radians. The spindle speed is in RPM (rotations per minute)
IRBCAM JSON Import Format:
{
"targets": {
"pX": [-100.0,-99.5472,-98.1929],
"pY": [0.0,9.5056,18.9251],
"pZ": [0.0,2.0202,4.0404],
"rZ": [0.0,0.0,0.0],
"rY": [3.141592653589793,3.141592653589793,3.141592653589793],
"rz2": [0.0,0.0,0.0],
"type": [0,0,0]
},
"velocity": {"i": [0],"value": [100.0]},
"tool": {"i": [0],"value": [1]},
"spindle": {"i": [0],"value": [796]}
}
type is 0 for a linear move, and 1 for an arc mid-point. The order of rotation for the tool vector is the Euler angles RotZ(rZ) * RotY(rY) * RotZ(rz2). velocity, tool and spindle are imported as sparse data vectors. velocity is in mm/sec. pX, pY, pZ are in mm. rz1,ry,rz2 are in radians. The spindle speed is in RPM (revolutions per minute)