I am building a script. At some point in the script the robot is supose to move the gripper relative to the Base or feature Z-axis.
The TCP Frame and Base frame are not aligned.
I have tried to do this using pose_trans.
where Pose is: get_actual_tcp_pose()
The problem with this is that it’s moving relative to the TCP Z-axis.
Is there a smart way to do this? or should a manually do the transformation from frame to frame?