How to get TCP-configuration values Rx, Ry, Rz?

URCap Development
1

Hi,

my urcap is creating an movenode configured using the actual TCP with:

moveNode.getTCPSelectionFactory().createActiveTCPSelection();

For calculation I want to use the pose (x, y, z, rx, ry, rz) values of the actual TCP of this moveNode.

I’m not successful in reading these values.

2

Hi,

all the TCPSelection Interface does is configuring the seleced moveNode to use the active TCP the User has selected.
To get your TCP Pose you have 2 Options:

  • using the TCPContributionModel which only gets your internally generated TCPs by a name key, see here
  • using the TCPModel which gets a you a collection of all (internally and user defined) tcps by calling the getOffset() function, see here
1 Like
3

Thank you m.birkholz,

because I now do my TCP-calculations in a parent node, I used your second suggestion, works fine.

Kind regards