Python Add-on to get current robot joint angles

Hello

I am new to the VC community and KukaSim.

I have a Kuka robot in my workspace and wanted to know how I can have a python program to get the joint angles of the robot selected.

The joint angles are show with sliders on the robot tab on the left when robot is selected

Hoping to output the joint angles constantly as the robot moves

Could you help in pointing to what python methods are available and how to access it

Hi work_BR

Your right, I tried that and now I can get the joint angles of the robot and print it in the output pane.

example output for code below

Component Name: KR 120 R3900 ultra K

A1: 11.3650071804

A2: -87.1914081235

A3: 116.352129322

A4: -132.080010476

A5: 31.0367524825

A6: 135.643897763

But I want the script to run (loop) constantly which the simulation is running (i.e when the robot is moving).

Currently I have to manually execute the script each time to read the current joint angles.

from vcHelpers.Robot2 import *
from vcHelpers.Selection import *
from vcCommand import *
import time

app = getApplication()
cmd = getCommand()

def OnStart():
    rou = app.TeachContext.ActiveRoutine
    if not rou:
        print('No robot selected.')
        return
    first_state()

def first_state():
    comps = getSelectedComponents()
    for c in comps:
        print("Component Name: %s" % c.Name)
        for i in range(1, 7):  # Loop from A1 to A6
            node_name = 'A' + str(i)
            node = c.findNode(node_name)
            if node:
                print("%s: %s" % (node_name, node.Dof.VALUE))
            else:
                print("Node %s not found in component %s" % (node_name, c.Name))

As far as I checked it seems like KukaSIM does not support OnRun() function? I may be wrong.

Could anyone help out?

Ah I see,

Would you know of anyway of streaming the robot joint angles from kuka sim generally? Any plugins/add-ons/connection tricks etc.

I have seen VisualComponents can have a OnRun function and much more than kuka sim but sadly there is no trial version that I can find