[j_cso]

There's probably code that relies on this behavior so I imagine you can't fix it, but the docs should at least mention it. Observed in v5.4.3

[Alex]

You can useitem.PoseTool()as a workaround

[j_cso]

Looks like that gives TCP relative to the flange, so you'd have to do extra math to get a PoseAbs from that

[Albert]

Thats correct. To calculate the absolute pose of the TCP you can do the following:

Code:

tool_pose_abs = tool.PoseAbs() * tool.PoseTool()

[Albert]

This is not a bug so I'm moving this thread to the API section.

这个泰pe of behaviour should be expected in older and future versions.

[Sam]

Let me join the party!

If you are looking for the TCP with regards to any other item, including the station, you can use this:
//www.sinclairbody.com/doc/en/PythonAPI/robo...em.PoseWrt
//www.sinclairbody.com/doc/en/PythonAPI/robo...getPoseWrt

[j_cso]

Thanks guys.