[sig.johnnson]

In `robomath.py`, `point_Zaxis_2_pose()` exists, but `point_Xaxis_2_pose()`and `point_Yaxis_2_pose()` do not exist, even though they are documented in the API reference://www.sinclairbody.com/doc/en/PythonAPI/robo...xis_2_pose

[Sam]

These additions are fairly recent. Did you update the robodk package?
pip install robodk --upgrade

You can see they are present in the source code:
https://github.com/RoboDK/RoboDK-API/blo...th.py#L233

[sig.johnnson]

Thanks, Sam.

I'm on 5.5.5. It looks like `pip install robodk --upgrade` did nothing, unfortunately.

Pip has been problematic for me lately, so I'm just going to copy-paste the GitHub code.

Would you be able to provide additional information for how this method works? Specifically:
1. What reference frame is the returned pose in?
2. What reference frame is the hint assumed to be in?

If you have an example use, that would be very helpful. I am having some trouble figuring out why it is behaving like it is behaving.

[Sam]

You can use point_Zaxis_2_pose() when converting from a point with a normal vector (xyzijk) to a pose.
As points don't have orientation around the normal axis, this function will attempt to align the Y axis to the axis hints.
Attempt, as it can fail if the z axis and the axis hint are the parallel.
To point the Z axis of a pose along IJK, and attempt to point the Y axis to Z+, you would use point_Zaxis_2_pose(xyz, ijk, [0,0,1])

Here's an example:
https://github.com/RoboDK/Plug-In-Interf...ets.py#L78

I agree they should be better documented.

[sig.johnnson]

Thanks, Sam. That makes sense.

Looks like this is behaving as-expected. The problem is in another part of my code.