09-10-2021, 09:56 AM
The script you mentioned is part of our examples in the documentation, available here:
//m.sinclairbody.com/doc/en/PythonAPI/exam...ram-xyzwpr
It requires importing the full pose given Euler angles or UVW rotation vector (not ijk vector, which is the tool Z axis and not a full pose constrain).
On the other hand, if you have ijk vector (tool Z axis) you can use the function point_Zaxis_2_pose:
//m.sinclairbody.com/doc/en/PythonAPI/robo...xis_2_pose
This will give you a pose, then, you can rotate around Z given your additional parameter.
//m.sinclairbody.com/doc/en/PythonAPI/exam...ram-xyzwpr
It requires importing the full pose given Euler angles or UVW rotation vector (not ijk vector, which is the tool Z axis and not a full pose constrain).
On the other hand, if you have ijk vector (tool Z axis) you can use the function point_Zaxis_2_pose:
//m.sinclairbody.com/doc/en/PythonAPI/robo...xis_2_pose
This will give you a pose, then, you can rotate around Z given your additional parameter.