Dear Users,
I want to move on a table which is no perfectly aligned with the world coordinate system.
For this I've measured a base (3 Point Method, Tool TCP Frame) but I can't reach it.
When I'm trying to move the tcp frame to the base (imported by getApplication Data), I'll get an exception, telling me the point is unreachable.
If I teach the frame via the Frame View with touchup, the frame is reachable.
I want to move the iiwa to the base frame and then create a snapshot of it with .copy and manipulate it with .setX()/getX(),(...).
With the KRC4 I just calibrated a base and executed my movement referenced to the base.
With Sunrise, I've figured out so far: all absolute lin/ptp movements are calculated in World coordinates.
I think I somehow have to transform my frames to world coordinates, how do I do it?