TCP pose in feature coordinates - save as a variable waypoint

[anna]

This topic might help:

UR5+vision - coordinate system difficulties

@anna The axis angle rotation vector that a pose is generically represented as are sometimes rather hard to grasp just off the top of your head. One axis of rotations works fine, but multiple angles at a time will most likely not give what you expect - however the result is most likely right anyway. There are also multiple representations for the same angle. Did you try moving to that position, to see if the robot actually went to the expected place? You can however easily convert from rotati…