Sets the active tcp offset, i.e., the transformation from the output flange coordinate system to the TCP as a pose, and assigns a name to the TCP. If no name is provided, the default name is an empty string.

Parameters

• pose: A pose describing the transformation.
• tcp_name (optional, default=""): A string that assigns a name to the TCP.

Example command: set_tcp(p[0.,.2,.3,0.,3.14,0.], "custom_tcp_name")

• Example Parameters:
  • pose = p[0.,.2,.3,0.,3.14,0.] -> tool center point is set to x=0mm, y=200mm, z=300mm, rotation vector is rx=0 deg, ry=180 deg, rz=0 deg. In tool coordinates.
  • tcp_name = "custom_tcp_name" -> the name assigned to the TCP.