I know this is an old thread but I've had a similar problem and I don't understand why I can't go to the origin of the Base frame I created. Why would the orientation parameters not fit?
FYI: I'm new to the lbr iiwa and still learning some of the basics.
Also, I am unable to modify the parameters of the base frame that was taught. I can copy the frame and then move to a point but I was hoping to modify the taught base frame. Any help on modifying this programmatically would be appreciated. I'm moving a source in a medical scanner and obtaining the scanner coordinate positions then I'm wanting to adjust my base frame to match the scanner positions.
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