Change TCP of my tool at runtime

  • Hi to all. I have a question about my kuka lbr iiwa .

    I'm using Sunrise 1.13 and i want to change at runtime the TCP of the tool that i create in the template. Is it possible ?

    So this is what i'm doing :

    Thanks a lot. :thumbs_up:

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  • Share the solution.

    Thanks to Kuka.

    Code
    //gripper is the tool in template
    ObjectFrame tcp =  gripper.getFrame("TCP");
    
    //tcp is the new tool at runtime
    tcp.move(lin(getApplicationData().getFrame("/P1")));  
    
    //  Transformation.ofTranslation(x, y, z)
    gripper.changeFramePosition(tcp, Transformation.ofTranslation(50, 0, 0));
    tcp.move(lin(getApplicationData().getFrame("/P1")));

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