### Get Golden Pose

GGP

Returns the trained “Golden Pose”.

Version 1.7.3 and higher

#### TCP/IP:

Command String:

GGP,<stepID>,<coord>

Field | Arguments
--- | ---
GGP | The command
<stepID> | This argument defines the StepID with the feature selected to set the golden pose for. Note: Only steps containing a single feature can be selected here.
<coord> | “Home2D” “Cam2D” “Raw2D”

Result String:

GGP,<Status>,<X>,<Y>,<Theta>

Field | Description
--- | ---
GGP | The command
<Status> | The result status 1: Success <=0: Fail
<X> | X-coordinate of the Golden Pose
<Y> | Y-coordinate of the Golden Pose
<Theta> | Theta of the Golden Pose

#### SLMP:

Send command (Input Block)

Offset | Value | Description
--- | --- | ---
VIB_Offset + 2 | 3021 | Command: GGP command ID
VIB_Offset + 3 | <stepID> | Argument0: This argument defines the StepID with the feature selected to set the golden pose for. Only steps containing a single feature can be selected here.
VIB_Offset + 5 | <coord> | 1: Home2D 2: Cam2D 3: Raw2D

Receive Result (Output Block)

Offset | Value | Description
--- | --- | ---
VOB_Offset + 5 | 3021 | Command: GGP command ID
VOB_Offset + 6 | <Status> | The result Status: 1: Success <=0: Fail
VOB_Offset + 7 | <X> | X-coordinate of the Golden Pose in the selected coordinate system
VOB_Offset + 9 | <Y> | Y-coordinate of the Golden Pose in the selected coordinate system
VOB_Offset + 11 | <Theta> | Rotation of the Golden Pose in the selected coordinate system