[Kanda]

Hello.
I want to set up a mechanism with an API.
I need help with defining the coordinate system via the API in BuildMechanism because it's not working well.
In the diagram below, the gripper on the left is the original object, the one in the middle is the mechanism set up with the UI, and the one on the right is the mechanism set up with the API.
In the API, I have set the coordinates of Hb for Base_Pose and the coordinates of Ht for Tool_Pose. I'm not sure how to set Fb.

             
  New Station (1).rdk (Size: 64.09 KB / Downloads: 166)
  robo_test.py (Size: 693 bytes / Downloads: 156)

[Sergei]

When creating mechanisms, it is important to use 'Move Geometry' instead of 'Object Position':

   

I attached your station with these slight modifications

[Kanda]

Thank you. I achieved the expected results with the station you provided.

I have come to understand the importance of using "geometry movement" rather than "object position" when creating a mechanism, but I am unsure of how to make the changes. Additionally, I would like to know the flow of when to make these changes, whether it should be before or after creating the mechanism.

Thank you in advance.
   

[Albert]

If you need to change the geometry of your objects it is better to do it before creating your mechanism. The geometry allows you to change the position of the object with respect to its own coordinate system.