Is there a way to programmatically detect the mounting angles of the robot inside the URCaps?
Alternatively is there a way to work in global coordinate system which is independent of the robot’s mounting angles?
I want to calculate a location right beneath the flange. In regular mounting I would just do:
center = p[flange, flange, flange - 0.1, flange, flange, flange ]
But if the robot is mounted upside down, this will give me a location above the flange.
I would also be interested. Is there someone from UR who can answer this?
The only workaround I could find for this issue is asking the user to input the direction of “down” through parameters, which is a pretty bad solution.