Hi ,
I want to move robot hand up for 20Cm and down remotely using RTDE.
I positioned the robot at a point and captured actual_TCP_pose as point 1. I lifted the same vertically using Polyscope move and got the point 2 using RTDE actual_TCP_pose.
Polyscope points are different from actual_TCP_pose i receive from RTDE.
My expectation is only the Z value changes when we move vertically up. My observation is x and y coordinates are changing when I lift the arm or tool vertically !
Is there any way to recalibrate our robot for RTDE api, such that only z value changes when i lift the tool vertically?
Few Actula tcp pose when i vertically moving the robot.
[0.1344391985424072, -0.3259616481206058, 0.5959482710277982, 0.2057722611911033, 1.7099097279334297, -1.0403854643864126]
[0.12592510249840283, -0.31746320413259577, 0.5959374297447915, 0.2058403887819389, 1.7099518848362092, -1.0403916911666475]
[0.08721568289170355, -0.2787420244116511, 0.5959331581921317, 0.20584016122688398, 1.7099340751287877, -1.0403781604845697]
[-0.11823105884185658, -0.07329626917376997, 0.5959198659183206, 0.20578421137162986, 1.7099198267762423, -1.040335152181686]
[-0.07755336238955403, -0.11396565809057026, 0.5959443416440965, 0.20577485751728605, 1.7099514028868497, -1.0403585245024718]