01-18-2022, 09:31 PM
I am successfully able to record joint angles of my robot's movement to a text file using the monitorjoint.py macro provided. But I would like to record the pose of my Tool with respect to my robot's reference frame. The script I used is attached
str(robot.Joints().tolist()) is replaced by str(robot.Pose().tolist())
When I run the following script, I get the following output for the first and second time stamp as example
0.0, -0.719945730144482, -2.918800016718072e-16, -0.6940303636345666, 0.0
0.05308723449707031, -0.719945730144482, -2.918800016718072e-16, -0.6940303636345666, 0.0
This does not look correct, I should be getting a 4x4 matrix?
Secondly, I require the tool pose to be given with respect to the robot's base reference frame and in the format XYZABC. How do I modify the code to do this?
robotpose.txt(Size: 604 bytes / Downloads: 155)
str(robot.Joints().tolist()) is replaced by str(robot.Pose().tolist())
When I run the following script, I get the following output for the first and second time stamp as example
0.0, -0.719945730144482, -2.918800016718072e-16, -0.6940303636345666, 0.0
0.05308723449707031, -0.719945730144482, -2.918800016718072e-16, -0.6940303636345666, 0.0
This does not look correct, I should be getting a 4x4 matrix?
Secondly, I require the tool pose to be given with respect to the robot's base reference frame and in the format XYZABC. How do I modify the code to do this?
robotpose.txt(Size: 604 bytes / Downloads: 155)