Function MID in URScript

[eric.feldmann]

What is your expected behavior for a MID function? Are you trying to find a midpoint between 2 Waypoints? The middle of 2 numbers? The median of a statistical dataset? You can write and define your own functions as you need using UR script. See my post below for an example of a script that finds the midpoint between 2 Waypoints:

Move TCP to Midpoint Between Two Contact Points

Script: def midpoint(first, second): mid = get_actual_tcp_pose() mid[0] = (first[0] + second[0]) / 2 mid[1] = (first[1] + second[1]) / 2 mid[2] = (first[2] + second[2]) / 2 return mid end Add a script file into your before start sequence and type in/paste that into it. Then use an Assignment node to store the points after contact, and use another Assignment node to call the script and pass in the 2 stored points. You can use this newly assigned Midpoint just like any other waypoin…