I use Universal Robot urp post processor to create urp file to transfer real UR5 robot.
when I check the created program, I see that all set references lines are converted to comment.
Is there a way to resolve that issue?
As for now, the Universal Robot URP post-processor does not use relative positioning, all the positions are sent with respect to the robot base.
Every time you see a "set reference" line, this frame will be applied to the following motion/points to set them as absolute position rater then relative ones.
Do you own a RDK Pro license?
If you do you I can look into adding the relative reference for the URP post-processor.
For now, I have a full trial license to test the capabilities of the RoboDK. if it could not create relative planes (feature planes in UR), the post-processor functionality for UR is not sufficient to transfer the created simulation to the real-world environment.
It can do it, but using the normal Universal Robot post-processor using the .script format.