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Axis Alignment in UR5 robot

#1
Is it possible to align the UR5 robot with a base coordinate axis only using the 'setPose' command in the python API? If yes, would a target need to be set? Any information on approach is helpful.
#2
Hello,

Following is one way to align the robot with Base Reference Frame. Let me know if this helps.


Code:
from robolink import * # RoboDK API
from robodk import * # Robot toolbox
RDK = Robolink()

robot = RDK.Item("UR5e")
frame = RDK.Item("UR5e Base")


basepose = frame.Pose()
print(basepose)
xyzabc = Pose_2_UR(basepose)
(x1, y1, z1, a1, b1, c1 = xyzabc

pose1 = robot.Pose()
poselist1 = Pose_2_UR(pose1)
x2,y2,z2,a2,b2,c2 = poselist1

xyz_list = [x2,y2,z2,a1,b1,c1]
xyz_pose = UR_2_Pose(xyz_list)
print(xyz_pose)
robot.setPose(xyz_pose)




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