Override an existing instruction

URCap Development URCaps SDK
1

Hello everyone,

I am fairly new to developing URCaps and I want to know if it is possible to override an existing instruction (e.g. Waypoint) and integrate my custom functions and new UI components?

2

Hi,

It is not possible to overrite existing polyscope program nodes, but a URCap can contribute multiple program nodes in the activator which can code to perform a wide variety of functions, including closely mimicing existing nodes.

1 Like
3

Thank you for the reply,

If I understand correctly you can’t override an existing polyscope program node, but you can create a new instruction who mimics the one you want to override.
Then I suppose there are integrated functions that can move the robot in position like a MoveJ.

4

Thats correct, each program node has a generateScript() method, which will output any URScript you wish. A waypoint node underneath a move are the inbuild nodes responsible for robot motion.