Hi,
There is something that's not right with the program. I am doing ONLINE PROGRAMMING with Kuka KRC 4.
If I do this:
pose = self.robot.Pose()
print(pose)
a = pose[:3,:3]
print(np.array(a))
where self.robot = self.robot = self.RDK.Item('KUKA KR 60-3', ITEM_TYPE_ROBOT) and np is for numpy.
The pose is this:
Pose(1718.216, 26.280, 1023.377, -132.634, -31.332, -165.801):
[[ -0.828, 0.210, -0.520, 1718.216 ],
[ -0.205, 0.750, 0.628, 26.280 ],
[ 0.522, 0.627, -0.579, 1023.377 ],
[ 0.000, 0.000, 0.000, 1.000 ]]
and a is this:
[[-0.82807276 -0.20474388 0.52189602]
[ 0.20951249 0.75045489 0.62683489]
[-0.52000002 0.62840863 -0.57853485]]
Why is it different? Note that there's a '-' sign on 0.210 when indexing and no negative sign on 0.520. These changes in the sign is messing with my program. Please let me know as soon as you can. Thanks.
There is something that's not right with the program. I am doing ONLINE PROGRAMMING with Kuka KRC 4.
If I do this:
pose = self.robot.Pose()
print(pose)
a = pose[:3,:3]
print(np.array(a))
where self.robot = self.robot = self.RDK.Item('KUKA KR 60-3', ITEM_TYPE_ROBOT) and np is for numpy.
The pose is this:
Pose(1718.216, 26.280, 1023.377, -132.634, -31.332, -165.801):
[[ -0.828, 0.210, -0.520, 1718.216 ],
[ -0.205, 0.750, 0.628, 26.280 ],
[ 0.522, 0.627, -0.579, 1023.377 ],
[ 0.000, 0.000, 0.000, 1.000 ]]
and a is this:
[[-0.82807276 -0.20474388 0.52189602]
[ 0.20951249 0.75045489 0.62683489]
[-0.52000002 0.62840863 -0.57853485]]
Why is it different? Note that there's a '-' sign on 0.210 when indexing and no negative sign on 0.520. These changes in the sign is messing with my program. Please let me know as soon as you can. Thanks.