Hi All,

I have created a surface in Robot Surface Simulation, and many tags have been added along the trajectories, all of them being normal to the surface at their positions. The surface has curvature both in chord-wise and span-wise directions, so that each tag has different values for their yaw/pitch/roll values.

But my equipment has only 5 DOFs (3 translations + 2 rotations) so it's unable to match the tags orientation exactly, and as a result all tags are highlighted as "Not-reachable", due to minor variations on the angle of the Pitch, see below (the highlighted angle should be -180º instead of -178.xxº, and this way the point can be reached):

Even though the robot's TCP does not fully align with the surface's normals at each tag, I still want to simulate going across the whole surface while keeping a certain angle as constant (think of it as a person who walks on a flat plane and then starts climbing a ramp while keeping a vertical position of the body, instead of being perpendicular to the ramp).

So far I've tried the following ideas (but I had no success or was unable to find the right configuration):

• Manipulate targets -> Reorient and align with a reference tag
• Compare and Transform

I'm not sure if editing each and every tag individually is the way-forward, or even if this is going to fail, due to interpolation between tags with an unconstrained DOF.

Any help is much appreciated!

Kind regards