Here are my tcp frame and my base frame of my UR3 robot :
I want to move my tcp frame so that the XtcpYtcp plan is parallel to the XbaseYbase plan.
I know I have to change Rx,Ry and Rz orientations of my tcp but I dont know the exact values to have a perfect parallelism.
Is there a way to orient the tcp frame in relation to the base frame with polyscope ?
One way is to convert rotation vector to rpy, then set x to 3.14 and y to 0, convert back to rotation vector and assign to pose.
rpy2rotvec() script functions.
Thank you for the answer but I just realize that I made a mistake in my explanation…
From the begining I was meaning the tcp frame and not the tool frame.
modified the post
i dont fuly understand your question but i hope this helps
i thougt UR calculation was RPY ( so first move RZ then RY then RX still didnt figured this fully out so i can be wrong)
for this i used this site
so if u want to go to your tcp plane relative to use
var1 = P[x,y,z,0,0,0]
moveJ to var1
to move relative in your plane.
var2 = P[x2,y2,z2,0,0,0]
this is solution by heart so i can be wrong.