How to create a new waypoint from an old one?

Technical Questions
1

I want the robot to move to a fixed position B which is position A down 1 inch.
I do not want to use relative movement because it is from different loop.
Can I find out the information from position A and then do a subtraction?

2

pose_sub(<pose_from>, <pose_to>) will return the subtraction of the 2 poses. You can do this inside an “Assignment” node and then pass the result into a Fixed waypoint

3

It sounds like you want to use the knownnposition of pose A to determine a new position B that is 1” in the negative z axis of the position A pose. Is this correct? If so, you will either want to use a pose_add (base frame reference) or a pose_trans (pose frame of reference) and calculate the new position based on A. Then simply use a variable type waypoint and move to B. Here is some pseudo-code

Move
WaypointA #Fixed waypoint
WaypointB_var = pose_add(WaypointA, p[0,0,0,0,0,-0.025]
WaypointB # Variable waypoint

I used -0.025 as the move distance since you stated you wanted to move down 1” from A, in base frame a move down would be a negative z movement.

1 Like
4

I would do as mbush suggests, as well.

You were a bit too quick though, mbush. You accidentally put your z in Rz. :slight_smile:
The assignment of Waypoint B should be:
WaypointB_var = pose_add(WaypointA, p[0,0,-0.025,0,0,0]

5

@efn you are correct! That’s what I get for answering late at night.