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+--- Thread: Recording Tool pose with respect to robot's frame in a text file (/Thread-Recording-Tool-pose-with-respect-to-robot-s-frame-in-a-text-file)
Recording Tool pose with respect to robot's frame in a text file-aryanzayn-01-18-2022
我成功能够记录关节角的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: 151)RE: Recording Tool pose with respect to robot's frame in a text file-Albert-01-19-2022
A pose is a Mat object (Matrix) and you can print it as is to obtain the 4x4 matrix.
You can also convert it to Euler angles and use the XYZWPR instead.
Example:
Code:
# print the pose as a 4x4 matrix:
print(robot.Pose())
# print the pose as XYZWPR values:
print(pose_2_xyzrpw(robot.Pose()))