Given a pose and the tcp offset, is it possible to determine the pose value of the Tool Flange, equivalent to calling “get_actual_tool_flange_pose()”? I ask because in my application, I’m not actually moving to my Waypoint, it is just a programmed point that gets manipulated later on. I’m having an issue with TCP variance, and if I could boil everything down to just the tool flange positions, I think my problems would go away.
Hi,
I think this should help:
tool_flange_pose = pose_trans(waypoint, pose_inv(get_tcp_offset()))
You can also select “ignore active TCP” – in that case, the flange position should be reached.
1 Like
Pawel is right. I just came to the same conclusion while testing it out. 
Thanks guys! That’s exactly what I needed. I was very close, but I had misplaced the pose_inv() call. I don’t think my brain is wired in a way that lets me understand that function. Also don’t know why I didn’t think to just throw the Polyscope command in there to ignore the TCP and then look at whatever script it generated.
Multiply pose with respect to base by inverse of pose of TCP with respect to flange to back out the pose of just the flange with respect to base.