Change EE to World frame

[Gedonserus]

Hi,

first of all I really love blockly for Franka and am happy that it is available!

How can I change the reference frame of the franka move_relative generation to world frame as default? been struggeling for a day now but could not get it to work. Also I coud not find the Franka stuff in the downloadable .zip.

Thank you for help!

BR

Daniel

[CoMeMak]

Hi Daniel,

in the file index.html, there is a function called "createTask". There you should edit the appParams variable, so that the "world" parameter is set to true (see the code listing below). Save index.html and generate a new bookmarklet with the new setting. Let me know if this works. Maybe in future I'll add a parameter to the block directly.

Best wishes, Tudor

                          var appParams = [{
                                "path": {
                                    "id": taskId,
                                    "indices": [0, 0]
                                },
                                "parameter": {
                                    "acceleration": 0.15,
                                    "cartesian_impedance": {
                                        "access": ["parent", "parameter", "cartesian_impedance"]
                                    },
                                    "joint_impedance": {
                                        "access": ["parent", "parameter", "joint_impedance"]
                                    },
                                    "offset": {
                                        "x": parseFloat(params.x) / 1000,
                                        "y": parseFloat(params.y) / 1000,
                                        "z": parseFloat(params.z) / 1000
                                    },
                                    "safety": {
                                        "access": ["parent", "parameter", "safety"]
                                    },
                                    "speed": {
                                        "access": ["parent", "parameter", "speed"]
                                    },
                                    "velocity": 0.3,
                                    "world": false // this should be true, I guess...
                                }
                            }];