Move with Feature Plane regenerate in URScript

Technical Questions URScript
1

hello,
do anyone know how this point in URScript are regenerated.
For example:
movel(pose_trans(Feature_Frame, pose_trans(p[-.004541610757, -.537724187020, .209156760587, .157088328329, -1.106507206681, -2.778651743318], waypoint1)), a=1.2, v=0.25)
this is from the robot regenerated in URScript
p[-.004541610757, -.537724187020, .209156760587, .157088328329, -1.106507206681, -2.778651743318]
i understand the reason of this point and what it do with this point but how the robot get it?

Please let me know if any further information is required.

Thanks!

2

Can you elaborate? I am unsure what is your question

3

for example:
i teached a waypoint in a Feature_plane.

Unbenannt
Unbenannt1092×677 29.2 KB

now i take the Script from the Robot for this program.
and get this code from it
Unbenannt
Unbenannt1734×270 18.1 KB

there is one point (i marked it) are regenerated from the robot and i dont understand how the robot calculated it.

4

Pretty sure that’s the Pose representation of the Feature plane_1. Polyscope stores both a _const version of the feature (which you can find from the Pose dropdown box in the function editors) and a Variable version (found in the Variable dropdown). The _const version does NOT exist as data attached to “Plane_1_const.” It only exists in the installation as raw Pose information. You can see this by attempting to assign a value and manually type “plane_1_const” into the box. It will say that variable doesn’t exist.

So that point comes ONLY when you Teach the plane originally. That’s the moment the robot stores that value, and that’s where it’s coming from. As to how that is calculated, there’s a lot of code to generate a different coordinate system. I believe a UR rep had posted the code on the forum somewhere at some point. It was pretty involved.