Hi everyone!I have a basic setup consisting of a UR10e and a wrist camera. By using the RoboDK simulation software I'm able to export waypoints (by that I mean MoveJ's and MoveL's) in .URP format, readable by the Polyscope. Basically, I can transfer pre-made program's (Offline programming) either, with respect to a local reference frame or w.r.t to the robot base. The camera would then scan and locate an reference object in real world.What I would like to accomplish with your help is correcting these pre-programmed waypoints inside Polyscope with the object_location data from the wrist camera. Imagine an reference object in real world that get's scanned and (x,y,z,rx,ry,rz) is gathered. A previously defined Point Feature variable gets overwritten by this data and the all the waypoints get shifted automatically w.r.t. the new reference.I know for a fact that you can specify a Point Feature to a MoveL/MoveJ however, according to this post (https://dof.robotiq.com/discussion/2302/dispensing-application-with-robotiq-wrist-camera) the waypoints have to be re-taught one by one with the Point Feature selected AND in addition to that, a Point Feature has to be re-taught when new waypoints are defined. This means an operator has to be present to do that.My question is: is it possible to update an offline generated program, consisting of MoveL waypoints (.URP file), on the fly using wrist camera without retouching the waypoints or redefining a point feature by hand?Kind regards!