ah, so I didn't correctly to set the base, as I didn't notice the robot in the example isn't set a the origin, that's all solved now.
is it possible to set the .java file to have the tool and base as variables that can be set thru the XML file? (just a thought)
for the directory, I took a look at the libraries, and i'm not quite sure what i'm suppose to do with PRC_FileChooser.java (I'm basically new to java)
However, I saw that in PRC_Core there's a file filter, fileChooser.setFileFilter(filter), so I tried adding fileChooser.setCurrentDirectory("E:") to PRC_Core, which workbench then tells me that the method is not applicable? i'm a bit confused, since both .setFileFilter() and .setCurrentDirectory() are methods of JFileChooser, I don't see why one works but not the other.
Also, for A3 (E1), the movement is quite obvious in the simulation, but when the application is ran on the iiwa, the movement of A3 is at very little. If I attach a radians just before LIN MOVE the simulation and actual movements seems similar. What's going on here? (seems like it's somehow been converted into radians automatically, but the iiwa reads it as degrees? in workbench preference the units is set as radians)
With the way A3 is controlled right now, it's basically manual input, is it possible for it to be automatically determined thru reverse kinetics like the other axis? (coming in future release?)