Background:Pick PCBA to program and then put back to the original locationUR5 / Allen Bradley PLCSequence:1. Vision system detects the present/absent of PCBA on a tray (3X20)2. UR5 pick up one PCBA3. Scan barcode on the 2nd Keyence camera.4. The 2nd Keyence camera will also tell UR5 the amount of distance offset of the programming contact points5. UR5 will move the PCBA to a programming station (10 total) preciously for program6. After PCBA programming is done, UR5 pick the PCBA from programming station back to the tray Questions:Approach 1. Try to use palletization in UR, but it need to run all tray 3X20 location. Is there anyway that I can make the UR to do the 5th of 60 movement.Approach 2. If I am not using palletization, I want to use PLC to calculate the robot pose, but how can I send over?