Weld Weaving URCap

This URCap provides an add-in software to enable weave function in UR robot, thanks to the precisely cycle controlled, it can maintain correct weaving pattern with constant process TCP velocity, to further enhance welding quality. It provides currently circle weaving, triangle weaving, zigzag weaving, and we are working on more types to enrich the proposal capability. The objective of this add-in is to facilitate programmer easily customizes a welding project re-using maximumly native Polyscope functions and quickly build weaving features.