transfer of coordinates to another System - UR10e

Hi,

i have a little problem and hope that someone here can help me.

I need the current position of the TCP in a coordinate system that I have specified. I would like to assign this position to a variable.

With the function get_actual_tcp_pose() I only get the point in the base coordinate system.

How can I transfer the coordinates to another system?

Hi,

i still need some help with this problem.

I have a variable waypoint (P1= p[x1,y1,z1,rx1,ry1,rz1]) in the coordinate system CS_1 and a variable waypoint (P2= p[x2,y2,z2,rx2,ry2,rz2]) in the coordinate system CS_2. CS_1 and CS_2 are different, the waypoints P1 and P2 can be different or the same. But because the coordinate systems are different, the real positions of the waypoints are also different.

Now I would like to drive through both waypoints with one move command in order to use the movep function. For this, both points must be in the same coordinate system.

So, can someone tell me how to transfer point P2 from coordinate system CS2 to coordinate system CS1?