Ur Scripts files take some time to be written (Combined system 1DoF +6DoF platforms)

[ChrisKuban]

Before to run a 6D trace, the function "SaveUrScripts" is called to write the data that will be send to the robot controller in a .txt file. This procedure can take a little bit of time (tested on two intel Core i7).

Before to click on "Play Motion", make sure that the .txt file is fully generated. If the user clicks on "Play Motion" during the generation of the file, the following error will appear :

[Collection was modified; enumeration operation may not execute]

[akac0297]

Note: This is an ongoing issue. If the 6DoF UrScript file is not completely generated before clicking 'play motion' (for either the combined system or 6DoF platform alone), the 1DoF platform won't work and only the 6DoF platform will move and may crash. The robot may also continue to move with the PhantomControl software crashing, requiring the use of the emergency stop button on the robot controller tablet.