Hello all. Long time. Hope everyone's keeping safe and healthy.
I'm having a bit of a brain twister with a UR 16e robot right now. To say that I'm THIS close to smashing the console is an understatement.
So, I want to deliver some parts to an inclined conveyor. No big deal. But, since I have a lot of variety and I want to use space as efficiently as possible, I've created 2 poses that I use as bases for the gripper's orientation - there is a collision danger.
I've created a unique plane feature for the conveyor.
I did the calculations and the math and everything needed.
Now, I want to use those WPs I've taught earlier to have their orientation based on a condition.
VAR_WAYPOINT =: pose_trans(ORIGINAL_WAYPOINT, FEATURE_PLANE);
VAR_WAYPOINT = VAR_CALCULATED_Y;
VAR_WAYPOINT = VAR_CALCULATED_Z;
MOVEL with respect to the feature.
For any other robot I know this would deliver the gripper to the calculated position with the original orientation.
For UR, however, NOOOOOOOOOO! The robot goes to the correct position...with a completely different orientation. Not only is it different, it's the complete opposite of the position I taught.
Anyone struggled with soemthing similar? It's driving me up the wall.