Need to run a vacuum cleaner inside a rectangular box. Will use hundreds of waypoints, and obvioulsy want to define them all dynamically. I’m very near the reaching limits of my UR10e for this job, so badly defined angles means many of my points becomes unreachable. Is there any way to define these hundreds of points without needing to define the specific tcp angles?
Meaning, set a pose with x, y, z defined, and having rx, ry, rz completely free.