In my application we have a UR5 along with Robotiq 2-finger 85 gripper. In my application a stack of 5 trays are fed to the robot. I would like for the robot to take one tray from the stack perform a pre existing palletizing sequence then when the tray is full get a new tray from the stack and place it on top of the completed tray. I am using stack and de-stack from the seek wizard. What I am having trouble with is orienting the pallet program to the position of the new tray. I assume interpolation will need to be done to achieve this. Any input would be appreciated.