I am using a UR10 model robot with two sanding tools connected to it (Robotiq). Our operation process requires a sanding process applied, then a buffing process applied after. This will be used for flat, wood surfaces. We have added a proximity sensor right next to our tooling without interference, and the first part of the program uses that sensor to calculate the length and width of the board present, while referencing a zero point. I am trying to figure out a way to bring the 'width_mm' & 'length_mm' values into the 'Path Generator' function of the UR Caps, while not bringing any other language such as Python involved. I am currently working on a simulation process through Python & RoboDK at the moment to possibly help improve and speed up the process. I realized this isn't much info to go off of but any help would be appreciated.