A specific question about ur_rtde interface when using movel function.

[gangLJG]

We already know that the movel function in the UR_RTDE interface can control the robot arm to reach the specified pose. But the coordinate system (or feature) for Pose is the default "base", not for setting new feature or specifying feature name." Movel with specified feature "teachpendent urp script is available, I use rtde interface (C++) to develop UR robot, anyone know how to achieve the same effect?

the interface function head file is as follows:

rtde_control_interface.h --------------moveL

` /**

• @brief Move to position (linear in tool-space)
• @param pose target pose
• @param speed tool speed [m/s]
• @param acceleration tool acceleration [m/s^2]
• @param async a bool specifying if the move command should be asynchronous. If async is true it is possible to
• stop a move command using either the stopJ or stopL function. Default is false, this means the function will
• block until the movement has completed. */ RTDE_EXPORT bool moveL(const std::vector &pose, double speed = 0.25, double acceleration = 1.2, bool async = false);`

[TexnoMann]

Ur-rtde protocol and dashboard dont support using custom frame instead base in a code. But I thing you can change frame in teach pendant and try to run ur-rtde novel command. I think movement will be executed in the selected frame. In my code I use transform matrix for change base frame to another