How to Get Base-to-Flange Pose via RTDE Receive?

Technical Questions Robot Communication
1

Hey,

I am running a high-speed control loop and need the actual base-to-flange pose.

  • rtde_r.getActualTCPPose() provides only the base-to-TCP pose.
  • rtde_c.getActualToolFlangePose() provides the required pose, but is slower and blocks my motion commands.

Is there a way to get the base-to-flange pose directly through RTDEReceiveInterface?

Is there another way, such as using RTDE output registers, to receive the base-to-flange pose at high frequency without blocking motion commands or changing the active TCP?

Thank you!

Apurv