Retrieve the operationalPosition relative to Tool/Endeffector

[mohdjawadi]

Hi! Please how can I retrieve the relative transformation (translation and orientation) of the operational frame based on its local co-ordinates system. In other words, I would like to retrieve the operational position in the tool co-ordinate system.

Thanks

[rickertm]

Do you mean the relative transformation of the tool frame to the operational frame or the relative transformation of a frame relative to the world frame (e.g., of an object) in tool frame coordinates?

In rl::mdl::Model, the function rl::mdl::Model::tool() can be used to access the last transform before the end-effector (or operational) frame. The tool frame and operational frame are identical in this case.

If you are looking for the relative transformation ^worldT_object of an object specified relative to the world frame expressed in tool/operational frame coordinates, you can invert the tool/operational frame ^worldT_tool and multiply it:

^toolT_object = ^worldT^-1_tool · ^worldT_object = ^toolT_world · ^worldT_object