# Mirror Waypoints?

**URL:** <https://forum.universal-robots.com/t/mirror-waypoints/19948>\
**Category:** Technical Questions\
**Created:** [March 17, 2022, 11:58am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948 "2022-03-17T11:58:34Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![anon27750506](https://avatars.discourse-cdn.com/v4/letter/a/f0a364/32.png) [@anon27750506](https://forum.universal-robots.com/u/anon27750506)\
**Post date:** [March 17, 2022, 11:58am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/1 "2022-03-17T11:58:34Z")

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Hi

I have 2 robots, that will be running the same program, but all waypoints have to be mirrored.

I have made the program for one of the robots, is there at easy way to mirror all the waypoints after I copy the program to the other Robot?

Best regards  
Jesper

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**Author:** ![fg1](https://avatars.discourse-cdn.com/v4/letter/f/bbce88/32.png) [@fg1](https://forum.universal-robots.com/u/fg1)\
**Post date:** [April 21, 2026, 6:17am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/2 "2026-04-21T06:17:40Z")

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You got no answer, but did you find a solution?

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [April 21, 2026, 2:38pm UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/3 "2026-04-21T14:38:17Z")

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There’s not an “easy” way, as in there’s no checkbox to say “Mirror Pose” but you can create Line Features and teach all points relative to that Feature. It’s possible to then just multiply a certain axis’s value by -1 to “mirror” it around that Feature. The hard part can be to make the orientation also mirrored. If it was pitched at 45 degrees, now it needs to pitch -45 degrees. Defining that behavior can be tricky. But it should be possible with pose manipulation and Features.

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**Author:** ![fg1](https://avatars.discourse-cdn.com/v4/letter/f/bbce88/32.png) [@fg1](https://forum.universal-robots.com/u/fg1)\
**Post date:** [April 22, 2026, 5:15am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/4 "2026-04-22T05:15:26Z")

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Well, the most important thing for me is to mirror the pose, because other whise i just would use the other local coordinate system. But as it is a 3D gluing programm with a lot of turning the TCP without cutting the hoses, i only can mirror the program or write it new.

I just get the feeling with your suggestion, that making new programm would be easier in the end…

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**Author:** ![mafa](https://avatars.discourse-cdn.com/v4/letter/m/bc79bd/32.png) [@mafa](https://forum.universal-robots.com/u/mafa)\
**Post date:** [April 22, 2026, 5:22am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/5 "2026-04-22T05:22:37Z")

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have you tried looking into using Remote TCP & Toolpath URCap? it uses G-code to follow a given path.

I’ve never used it but it seems for a gluing application it could be working?

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**Author:** ![fg1](https://avatars.discourse-cdn.com/v4/letter/f/bbce88/32.png) [@fg1](https://forum.universal-robots.com/u/fg1)\
**Post date:** [April 22, 2026, 6:29am UTC](https://forum.universal-robots.com/t/mirror-waypoints/19948/6 "2026-04-22T06:29:31Z")

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Thank you.  
I haven´t tried it yet, but i will have a look at it.

At the moment i´m just searching for options.