01-13-2023, 12:27 PM
This should be simple using the Python API and some math.
For example, the following code applies an offset of [100,200,300] mm along [X,Y,Z] coordinates.
For example, the following code applies an offset of [100,200,300] mm along [X,Y,Z] coordinates.
Code:
# Define your relative move as an XYZABC offset
pose_delta = KUKA_2_Pose([100,200,300,0,0,0])
# get the current object pose:
pose = m1.Pose()
new_pose = pose * pose_delta
# update the new pose:
m1.setPose(new_pose)