Hi to all,
I’m using a new robot with Polyscope X OS and I need to set a relative waypoint in a program node.
I can’t find any information about this. Can anyone help me?
Thanks!
Hi @m.lucantoni ,
Check this video tutorial: 5 Transform positions with Offsets to minimize the number of waypoints
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Very very interesting! Not quite what I needed but still very useful!
@Roberto: are you working with Poly X? What do you think about? It’s not clear to me if UR will release robots with only Polyscope X in the future
Tnx and have a nice day!
Anyway I found a way using script:
Calculate the new position by moving 2 cm (0.02 m) along the Z-axis
start_pose = get_actual_tcp_pose() # Get the current position of the TCP (Tool Center Point)
target_pose = pose_add(start_pose, p[0, 0, 0.02, 0, 0, 0]) # Add 2 cm in Z
Move the robot linearly to the new position
movel(target_pose, a=1.2, v=0.25) # ‘a’ is the acceleration, ‘v’ is the velocity
Maybe this script can be usefull for other users.. if someone know how to do the same without script will be appreciate! 
A similar method just manipulates the axes being adjusted:
start_pose = get_actual_tcp_pose() # Get the current position of the TCP (Tool Center Point)
start_pose[2] = start_pose[2] + 0.02 # Add 2 cm in Z
movel(start_pose, a=1.2, v=0.25) # ‘a’ is the acceleration, ‘v’ is the velocity
Is there a way to set a relative waypoint in Polyscope X the same way we could in Polyscope 5 with two waypoints and the relative waypoint being the difference between the two specified points.
That was an extremely useful function in Polyscope 5 and my lab really want to find a way to replicate it in Polyscope X
I have no updates on this at the moment. It could be with future versions of Poly X, but with the current version the only way I’ve found to set a relative waypoint is the script I’ve already reported (which works very well! I recommend you try it 
)
Yes, that does work. Thank you for providing that!
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