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AntoineLAntoineL Posts: 2 Recruit
Hi,

I'm trying to modify a Feature Point using my URP program. I can change it inside the scope of my program, but nothing I've tried changes the actual Installation Feature. 

I tried:
Point_1=Point_2
global Point_1=Point_2
Point_1=p[0.33992696470771827,-0.5650074353470252,0.386011739169741,1.2091436405995897,-1.2092461401509136,1.2090477742230985]
global Point_1=p[0.33992696470771827,-0.5650074353470252,0.386011739169741,1.2091436405995897,-1.2092461401509136,1.2090477742230985]

If I use a Variables it works:
global PC_Result=22
But I can't reference my Move Waypoints to a Variable, only a Feature.

Thank you!

Antoine

Comments

  • EnricEnric Posts: 106Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Handy
    Hi, @AntoineL

    I propose that you study this link

    UR Polyscope: Move with respect to a custom feature/frame - 20570

    https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/ur-polyscope-move-with-respect-to-a-custom-featureframe-20570/

    Best,
    Enric Vila Avila
    Vicosystems S.L.L.
    Industrial Collaborative Systems

    [email protected]
  • AntoineLAntoineL Posts: 2 Recruit

    @Enric, this is interesting, thank you, but it's not what I'm looking for. 

    Let me explain what I want to do in more details. I will have approximately 10 UR programs with 20 Waypoints each. The Waypoints will be taught manually and referenced to a Feature (1 Feature per program, 1 program per part). The part will be located automatically by a camera and the Feature adjusted accordingly. This works well in runtime because the Feature will change locally in the UR program and my Waypoints will move accordingly. 

    The problem is that if I want to adjust my Waypoints in the future they will be referenced to my original Feature not to the current part Feature. I have no way of putting the part at exactly the same location so that my current Feature matches the original Feature. So I would like to modify my original Feature to the current part location so that I can re-teach my Waypoints if needed.

    Thank you!

    Antoine
  • LukaszLukasz Posts: 1 Recruit
    I raised that issue a couple of months ago. My local UR support has contacted their HQ. They are working to solve it I believe.
  • matthewd92matthewd92 Posts: 826Founding Pro, Tactile Sensor Beta Testers Handy
    When you need to reteach the points why not just quickly reteach the feature at the same time. 
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