Move relative to Plane feature 2

[PaulC]

I am trying to move relative to a plane feature. I have reviewed the content already at these links:

MoveL relative to a plane feature

Hello, I’m having troubles with feature coordinates-system, for a problem that seemed me easy, but after hours of trying and searching, I decided to post a topic. I’m searching for a way to use a plane feature, to move the robot TCP relatively to this plane (in script). As we can do in the manual mode when we select the feature to ask your help. I already saw answers from that thread that concerns a relatively close problem (How to get tcp pose in feature coordinates?), but I can’t achieve to…

How to get tcp pose in feature coordinates?

I’ve answered my own question. So for anyone else who runs into this, result=pose_trans(pose_inv(pose2),pose1) x offset = result[0] y offset = result[1] Assuming, of course, that your x and y axes of the feature plane and your tool are pointing the same direction. If not, it should be a simple 2D coordinate transformation if you know the angle of rotation. [image]

however I don’t think it gives me the complete answer. To summarise I wish to:

1. Find the position relative to a plane feature. As already discussed this can be done with:
   p_2=pose_trans(pose_inv(p_1),Plane_1)

where p_1 is the position in the base coordinate system.
Plane_1 is the plane feature that I wish to reference.
p_2 is the point relative to Plane_1.

2. I then wish to add offsets relative to the position in Plane_1.
   e.g.
   p_2_offset = p_2
   p_2_offset[0] = p_2_offset[0] + x_offset
   p_2_offset[1] = p_2_offset[1] + y_offset

3. Now the main problem is how do I now translate this offset position back to the base coordinate system. Logically I thought I should try the following:

p_3 = pose_trans(pose_inv(p_2_offset),pose_inv(Plane_1))

where pose_inv(Plane_1) gives the position of the base coordinate system relative to Plane_1 coordinate system. I have tested the code and it doesn’t give the correct result. Does anyone have any ideas?