Here is the link to the UR forum post https://forum.universal-robots.com/t/state-actual-tcp-pose-results-in-wrong-pose/14498/7
My short script to set/test the camera focusing can be found here:
Another thing to try is upgrading to the latest version of Polyscope as they have been working to reduce the memory intensity of Polyscope to help with these controller freezing situations.
The robots it happened on, were all purchased within a few weeks of one another.
Replacing the tool-flange fixed the issue.
In any event, yes. UR replaced the tool-flanges of the robots with the issue and the problem has not recurred.
I can perform almost everything! Thank you so much!
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