I have a UR10 that we want to use to tend a CNC lathe. I am wanting to teach the pallet sequence at the lowest spot on the table for a general program. For future uses I would like for the operator to be able to type in the Z dimension of the part that is being picked up and have the robot automatically offset that Z distance from the Lowest spot on the table that has already been taught. The X, Y, and rotations should remain the same. This way we would not have to reteach the pallet sequence for every job, rather we would just change the user input of part height and the program would do the rest for us. I currently only use the polyscope tablet for programming our robot as I have not messed with any of the script programming to date. What would be the best way to accomplish this?