Variable Waypoints with Flexx Reference

Flexx Reference only supports the offsetting of Fixed Waypoints; therefore, Variable Waypoints are not supported “out-of-the-box” with the Flexx Reference. That being said, there are ways to use the Flexx Reference + Fixed Waypoints with variable waypoints + script code within the UR program.

This is achieved by using the Flexx Reference a Fixed Waypoint to get to a “known starting point”. From that point, calculations can be performed using script code and the get_actual_tcp_pose() script function to move to variable points based on the starting point. The only requirement to do this is that the Move + Variable Waypoint needs to not be nested beneath the Flexx Reference node. See program example below: