I would like to program some trajectories directly with the Polyscope of my UR-5e. The waypoint values are saved with respect to the frame of the robot’s base. Before executing the program, I need to measure some points of my part and align it with three points, creating my new frame (“new frame”). Is there any method so that the trajectories that I previously program with the Polyscope save them with respect to the new frame that I have created? I always need to align my robot to the part before I start running the program.
Therefore, I need all previously saved points (waypoints) to move based on the previous alignment (“frame new”).