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flexivrobotics / flexiv_rdk

RDK (robotic development kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
Apache License 2.0
58 stars 18 forks source link

[FEATURE] Get/Set WorkCoord(工件坐标系) via RDK #66

Open Valen-C12 opened 1 month ago

Valen-C12 commented 1 month ago

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_da0e9eb8-9ac4-4d17-aeb7-37f77420a79g img_v3_02c2_d8de13bf-3091-4a48-a308-02a9745777cg

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。

pzhu-flexiv commented 1 month ago

@Valen-C12 Interacting with workpiece coordinate will be added in RDK v1.5

Valen-C12 commented 1 month ago

@Valen-C12 Interacting with workpiece coordinate will be added in RDK v1.5

Cool, when will v1.5 be released? @pzhu-flexiv

pzhu-flexiv commented 1 month ago

@Valen-C12 It is scheduled to be released late Q3 / early Q4.