I have seen videos typically of stacking type applications where the UR goes down until it contacts something then it moves upward then returns to pick an object a certain height above the point it contacted initially. My assumption is this is accomplished using torque sensing and a relative or variable way point. Where can I find some training literature that explains how to establish these types of waypoints? Can someone share some insight how this is programmed? Another question, I am using the pallet wizard to stack parts in a box, using the box feature. I need to insert a sheet of cardboard between each layer. Is there a way to insert a pause and pop-up between layers in a box sequence or do I need to do like 4 or 5 squares? Counting of some type? This is where I was thinking the touch off trick would help me I could have the robot touch off before it begins the pallet sequence then it would places the layer. Pop-up once layer is complete insert sheet. Robot again checks height and begins second layer. I hope this is a clear enough explanation.