Create waypoint with variable

Technical Questions URScript
1

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.

Udklip

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2

without testing,

WaypointNodeConfigFactory.createVariablePositionConfig(…);

seems like what you are looking for

3

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

4

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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