Hello,

I've been facing problems with the addMoveC-method from the motion-program.py file.
When I try to add waypoints to a motion program using the addMoveC-method, I get the following error:

Traceback (most recent call last): File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\motion_script_test.py", line 214, in <module> main() File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\motion_script_test.py", line 110, in main motion_pr_3.addMoveC([start_position_c, cpos_1, cpos_2], angle, 0.5, 0.5, crefpose) File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\robot_control\motion_program.py", line 152, in addMoveC move_c.referenceJointCoordinates.extend(ref_joint_coord_rad) AttributeError: referenceJointCoordinates

So I thought I'd use the default reference joint coordinates provided in the addMoveC-method instead just to test whether I was entering wrong values as reference coordinates. However, a different error appeared:
google.protobuf.message.EncodeError: Message motion_spec.moveC is missing required fields: reference joint

Traceback (most recent call last): File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\motion_script_test.py", line 214, in <module> main() File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\motion_script_test.py", line 110, in main motion_pr_3.addMoveC([start_position_c, cpos_1, cpos_2], angle, 0.5, 0.5, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\robot_control\motion_program.py", line 161, in addMoveC self.addCommand(move_c, self.__MotionSpec.ARC) File "C:\Users\nhoeness\Documents\CoraCare\motorcortex_robot_control\test\robot_control\motion_program.py", line 129, in addCommand motion_cmd.commandarguments = command.SerializeToString() google.protobuf.message.EncodeError: Message motion_spec.MoveC is missing required fields: referenceJoint

Am I missing something important here? I would be grateful for a solution to my problem or alternatively a small example code on how to use the addMoveC-method correctly.

Greetings,
Noemi