Open Valen-C12 opened 1 month ago
@Valen-C12 Interacting with workpiece coordinate will be added in RDK v1.5
@Valen-C12 Interacting with workpiece coordinate will be added in RDK v1.5
Cool, when will v1.5 be released? @pzhu-flexiv
@Valen-C12 It is scheduled to be released late Q3 / early Q4.
Is your feature request related to a problem? Please describe. 使用element ui 设定比如moveL的目标点的时候,可以选定变量作为坐标系,但示教只能选世界/法兰/工具坐标系。
![img_v3_02c2_d8de13bf-3091-4a48-a308-02a9745777cg](https://github.com/flexivrobotics/flexiv_rdk/assets/123928892/d0cab8cd-289c-46d8-968b-74832d14199c)
Describe the solution you'd like rdk能够更新工具坐标系,或者示教可以选择COORD变量作为坐标系
Additional context 场景是机械臂是在移动平台上的,每次到位后机械臂和操作工件可能会有几厘米误差,所以需要校准。校准好后把工件坐标系通过rdk更新到机械臂,目前只能写入到全局变量中。 因为拖拽示教只能基于工件坐标系不能基于全局变量,所以录制动作/plan的时候都得先校准一遍,然后人手动在element里把全局变量中的坐标更新到工件坐标系里,然后基于工件坐标系录动作,体验很不好。