I'm using a UR3e robot and I would like a part of my program to incorporate operator movement to direct the robot to the start locations. I used teach_mode() to enable teach mode, but I would like for the teachmode movement to be restricted from changing the rX, rY, and rZ values. I tried downloading Artiminds Essentials URCap to accomplish this since it has the capabilities I'm looking for, but it didn't work with my UR3e. Artimind Essentials simply just didn't let me move the robot when I tried to follow the instructions to limit certain axes movement. Anyone know how to know limit freemode movement to change in the x,y, and axes, but not the rX, rY, and rZ?