Universal Robots Forum

Create waypoint with variable

Is there a way to make an urcap add a waypoint, based on a variable?

I need the robot to move to different positions, but using the same waypoints to get there, and then just have a script calculate the values of the variable.



without testing,


seems like what you are looking for

Probably, but the problem is, I can’t figure out how to make it work.

I finally got a bit further with this, but got stuck again.

VariablePositionDefinedWaypointNodeConfig varNode = WaypointNodeConfigFactory.createVariablePositionConfig(variable_pre, blend, varMotionParameters);

I got the variable defined, but I got some problems figuring out how I need to define the blend and motion parameters.

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