[Bug] TCP XYZ-coordinates do not correspond to Rhino XYZ-coordinates for UR-Robots about robots HOT 3 CLOSED

See https://github.com/visose/Robots/wiki#coordinate-systems for how to orient the tool in the plugin, which is different from the UR convention.

This was done on purpose, if it was a good idea or not is debatable, I guess there are pros and cons.

The justification at the time was that the plugin was an abstraction over all the different robots we had at the workshop. Each robot manufacturer uses different conventions (including the coordinate system at the flange), but users would only need to learn one set of conventions (the plugin's). If they switch between different robots, everything behaves the same, the tool doesn't switch to a different orientation, because internally everything is converted to the robot's convention.

If you are only using robots from a single manufacturer (in this case UR), it's understandable that you don't find value in this and would like that the nominal values between plugin and the generated code to match.

Although, you also mention that the visualization doesn't match the path of the real robot. If you convert the the TCP from the UR convention to the plugin's convention (from memory, I believe its rotating 90 degrees around Z), is the simulation still incorrect?

from robots.

To confirm, this is the Robots plugin convention:

This is UR's convention:

It's rotating 90 deg around the Z axis and converting between meters and millimeters.

from robots.

@robin-gdwl, if things are working as intended (even if what was intended is not ideal), I'll close this issue as not a bug.
Feel free to reopen if it is indeed a bug, or you can also open a discussion if you have a suggestion on how to handle this better.

from robots.