URscript: Calculate point coordinate from a custom frame

bcastets

Just sharing this article from UR about how to "how to Move with respect to a custom feature/frame using URScript language"

https://www.universal-robots.com/articles/ur/urscript-move-with-respect-to-a-custom-featureframe/

This information is useful when you do relative programming.

Here below is a Cheat sheet:

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• point_from_base: Point with coordinate expressed in robot base frame
• point_from_frame: Point with coordinate expressed in custom frame referential.
• frame: Custom frame. Can be a plane or a point.

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point_from_base=pose_trans(frame,point_from_frame)

point_from_frame=pose_trans(pose_inv(frame),point_from_base)