Waypoint-like node in URCaps

[jech]

Hi,

I would like to design a URCap that, given 3 waypoints, makes the robot perform a Circle Move through the 3 waypoints.
My idea is to put the move actions I need plus the definition of the 3 waypoints in the same node.
How can I design a Node View and Node Contribution of the waypoints similar to the waypoint in Polyscope?

Thanks,
Jennifer

[johannes.jacobs]

Hi,

I would like to know that as well, I am planning to create a Node that represents a Waypoint but only for further transformations to it, and not to move to directly which is not possible with default waypoints afaik currently!

Thanks in advance

[r.larsson]

Have a look at this one :

Custom Waypoint-like node in URCaps

In my URCaps application, I want to create a custom Program node that acts like a Waypoint. The only difference is that my custom waypoint node will be applying some pre-determined transformation to that waypoint. The only solution I’ve been able to come up with is to create a program node that does both the transformation and the move command (via the generated script) at once. But is there a way to make the node callable by the Move, or perhaps subclass a waypoint? The structure could look l…

[jech]

Hi,

I saw that post, but I don’t have idea I could I design the Waypoint user interface and logic like the one shown in Polyscope. So I can teach the robot the Waypoint through Freedrive or the Move tab, get the position and then apply all the trasformations I need to perform the circle movement.
Can you help me with that?

Thanks a lot for your reply,
Jennifer

[r.larsson]

Then you should have a look at @jbm s example

EllipseSwing/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examp...

There he uses RobotMovementCallback and getUserDefinedRobotPosition

I haven’t looked how the interface he did looks, but a lot of things I bet he has there.

[jech]

Thanks! I am going to check it out. Thanks a lot!