[Albert]

How do you want to specify the coordinate system you are using?

You can make the following edit to export all targets with respect to its own coordinate system:

1. 打开文件:C: / RoboDK /文章/ OTC.py
   
2. Comment the line self.REF_FRAME = pose (around line 260, just add the # character in front)
   

Nachi and OTC use this same post as they use the same controller.