Universal Robots Forum

3D Transforms for Custom Pallet Routine

Can anyone share some code that helps me define a custom pallet and the transforms for picking within that pallet?

I am defining a coordinate frame using three variable points (these are defined in the program before start sequence as the Top_Left, Top_Right, and Bottom_Left corners of the pallet). Those three recorded positions create my frame. Then I am trying to index in X,Y, and Z on that plane.

Does anyone know of a way to pose_trans along the XY surface of the plane I defined with the three points rather than in the Base feature frame?

Thanks for the help everyone!

Could interpolate_pose() do the job?
Check out this article.