Change feature plane based of a input during opperation

[gavin.theobald]

I have two different areas in my cobot application that require the same code.

I was thinking it would be nice to have that chunk of code referenced to one feature and then change it to another feature when required. Therefore I can cut back on a massive chunk of repetitive code and perform the same set of actions in different areas.

But I cannot think of a way to overwrite a feature or create one as a pose and link it to a move L/J.

Any ideas / opinions?

[dusan.kesner]

Hello,
did you find a solution?
I am looking for same functionality, but cannot find the solution yet.
Especially how to modify the existing surface feature.

Thanks.

[eric.feldmann]

Edit existing feature

Are you still asking this in the context of a URCAP, or are you just wondering how to shift them on the robot? The important thing there is to know that the version of the Feature you access from the “POSE” dropdown boxes in Polyscope are CONSTANT. This value only changes if you re-teach the Feature in the Installation. If you access the Feature from the “VARIABLES” dropdown in Polyscope, you’re free to shift that around at runtime, and it behaves like any other Pose variable. So for example if …

You can see my post on your other question here. Looks like the same ask.