07-22-2022, 06:27 AM
Connected to my ur5e and got joint positions, then ran this:
But on the robot, if I run the URScript command get_forward_kin(), it comes back with 0.416, 0.445, 0.371.
That is, URScript Pose is in meters, but robomath.Pose_2_UR() is returning millimeters. Likewise, robomath.UR_2_Pose() seems to be expecting mm instead of meters.
This is a bit disturbing. Did you guys test Pose_2_UR and UR_2_Pose literally at all?
Code:
r = RDK.Item("UR5e")
p = r.Pose()
print("Tool pose: ", p)
print("UR:", robomath.Pose_2_UR(p))
Tool pose: Pose(416.128, 445.368, 371.081, 0.130, 0.169, -0.204):
[[ 1.000, 0.004, 0.003, 416.128 ],
[ -0.004, 1.000, -0.002, 445.368 ],
[ -0.003, 0.002, 1.000, 371.081 ],
(0.000, 0.000, 0.000,1.000 ]]
UR: [416.1276863988549, 445.3677680489658, 371.08122984066586, 0.002271590929845354, 0.002958832693163574, -0.0035630993852032887]
But on the robot, if I run the URScript command get_forward_kin(), it comes back with 0.416, 0.445, 0.371.
That is, URScript Pose is in meters, but robomath.Pose_2_UR() is returning millimeters. Likewise, robomath.UR_2_Pose() seems to be expecting mm instead of meters.
This is a bit disturbing. Did you guys test Pose_2_UR and UR_2_Pose literally at all?