Thanks @anna.
The process you are describing is the regular use case of camera over conveyor belt, and I have been able to use that successfully.
What I am trying to do is a bit different.
I need to do a relative movement of the robot arm while tracking a conveyor. The vision system does not even play a role here.
- ConeyorTracking # Tracking begin on the positive Y axis
---- Wait(2.0) # Arm is following the conveyor successfully
---- movej(get_actual_tcp_pose) # (1) Expect to stay put (still tracking the conveyor)
---- movej(pose_trans(get_actual_tcp_pose, p[0.1,0,0,0,0,0])) # (2) Expect to move in the x direction
# while still following the conveyor
What I actually see in (1) is that the robot moves in the direction of the conveyor the same length it had already passed. If I want it to stay put I should use movej(pose_where_tracking_started) but I do not have that pose saved anywhere…