[jcforme]

Thanks for the response Albert. So in my post, i found the function setFrame. i'm not sure what i have to do here to make this work. i want the point to be output using Frame 2 as the reference frame


def setFrame(self, pose, frame_id=None, frame_name=None):
"""Change the robot reference frame"""
# the reference frame is not needed if we use joint space for joint and linear movements
#参考系也不需要如果我们使用cartesian moves with respect to the robot base frame
# the cartesian targets must be pre-multiplied by the active reference frame
self.REF_FRAME = pose
self.addline('# set_reference(%s)' % pose_2_str(pose))