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PoseAbs() on ITEM_TYPE_TOOL returns flange pose, not TCP
#1
There's probably code that relies on this behavior so I imagine you can't fix it, but the docs should at least mention it.  Observed in v5.4.3
#2
You can use item.PoseTool() as a workaround
#3
Looks like that gives TCP relative to the flange, so you'd have to do extra math to get a PoseAbs from that
#4
Thats correct. To calculate the absolute pose of the TCP you can do the following:
Code:
tool_pose_abs = tool.PoseAbs() * tool.PoseTool()
#5
This is not a bug so I'm moving this thread to the API section.

This type of behaviour should be expected in older and future versions.
#6
Let me join the party!

If you are looking for the TCP with regards to any other item, including the station, you can use this:
https://robodk.com/doc/en/PythonAPI/robo...em.PoseWrt
https://robodk.com/doc/en/PythonAPI/robo...getPoseWrt
Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our YouTube Channel.
#7
Thanks guys.
  




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