Setpoint to a waypoint

[andor.ivan.pocze]

And is possible to get the position from a waypoint that has already been set by the user with the Robot-Arm?
Throughout a ProgramNodeVisitor perhaps?
Would be very usefull in my plan discribed here:

Auto-generate turning point WaypointNodes

Hey Forum! I’m trying to implement the following: The welder Cobot would need to go around a rectangle object, and i’m trying to auto generate the turning movement of the Robot, so that the operator only needs to set the 4 edges of the rectangle. I think i’m able to calculate the Waypoints i need with get_actual_tcp_pose() and than alter it to get the turned point, and set them in varieable positions but i’m only able to do this after the opertor set the 4 point i need. When in the Java prog…