Why do we name the parameter as Tool_const?

Technical Questions URScript
1

Hi,

Beginner here. I am following the RTDE guide at the moment. The guide has a SetP Waypoint example where we run rtde_control_loop.urp.

In that file we set setp = Tool_const. So, how do we know what to assign to? What are the other parameters than Tool_const?

Also in connector example, it mentions example_control_loop.urp which does not exist in the zip file attached at the end of the guide. How can find that file?

2

I figured out. Seems like Tool_const exactly equals to get_actual_tcp_pose() somehow. If you rewrite you will get an parameter undefined error.

Also there is no example_control_loop.urp file as well. The file name is rtde.control.loop.urp.