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ssandbergssandberg Partner, Wrist Camera URCap 1.3.0 Posts: 11 Apprentice
edited July 2017 in Programming
I have an application picking parts from a table but the table will occasionally move a few inches. Is there a way to change the pallet reference so I don't need to teach the various pallet points again?

Also, on a related questions, I taught a feature (reference_plane) that created three points below it (point_1, point_2, etc..) I'd like to poll an operator to reteach these points with some popups. I've tried a script command Point_1=get_actual_tcp_pose() but it throws a syntax error. The plane is set to a variable type as are all the points below it.

Best Answer


  • matthewd92matthewd92 Founding Pro, Tactile Sensor Beta Testers Posts: 1,267 Handy
    You need to look in the variables list for Point_1_var, you can then assign the current pose to it.  Another shortcut is you can just assign the curent Tool pose as well like this

    Point_1_var = Tool (you have to choose Tool from the dropdown menu of poses, it actually returns Point_1_var = get_actual_tcp_pose(), just is easier to read in my opinion.

  • benderbender Posts: 1 Recruit
    Is there something that need to be done once the 3 variable points of the plane have been updated? 
    I tried it and it looks like the plane isn't updating as every waypoints under the moveL in the plane feature don't change.
    I update the points using the following function : 
     Point_1_var = get_actual_tcp_pose()

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