+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API)
+--- Thread: Set Robot Base Pose (/Thread-Set-Robot-Base-Pose)
Set Robot Base Pose-Jeremy.West-04-05-2023
Currently I am trying to set the pose of a robot base with reference to a reference frame. My current code sets the pose of the robot, but I would like the base of the robot to receive the x,y,z,a,b,c pose with reference to my reference frame. I have attemtped the getlink(0) function to call the robot base but receive the error "Exception: Invalid item provided: The item identifier provided is not valid or it does not exist."
from robolink import *
from robodk import *
import numpy as np
RDK = Robolink()
Origin=RDK.Item('SpiralMeca') #program origin
R1.setParent(Origin)
R1 = RDK.Item('Mecademic Meca500 R3',ITEM_TYPE_ROBOT)
RB1 = R1.getLink(0) # get the base link
LED = RDK.Item('LED') #Reference frame
pose = Pose(10,0,0,0,0,0)
RB1.setPose(pose)
RE: Set Robot Base Pose-Jeremy.West-04-05-2023
So I foundthis threadthat shows moving the base is possible only I am having trouble finding my base reference frame name. When I go to create a new base in modify robot I get 2 different robots. How do I find the name of my current robot base reference frame name?
RE: Set Robot Base Pose-Sam-04-06-2023
The robot's parent should be the base frame.
RB1 = R1.Parent()
print(RB1.Name())
Note that R1.getLink(ITEM_TYPE_FRAME) returns the active reference frame, not the base frame (the frame with a green overlay in the tree).