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How to change visual offset tag reference position ?

Update your reference tag while keeping all relative waypoints valid

Context

This article explains how to change the reference Visual Offset Tag in an existing program without having to re-teach all the relative waypoints. This technique lets you use a new tag (e.g., Tag_2) while maintaining the positions that were originally relative to Tag_1.

 

Information

Why change the Visual Offset Tag reference?

In a typical application, your robot's relative movements are based on a visual reference tag (e.g., Tag_1). If you need to switch to a different tag (e.g., Tag_2), reprogramming all waypoints manually would be time-consuming. Instead, you can calculate the transformation between the two tags and apply it to your existing program logic.

 

Step-by-step – Switch reference from Tag_1 to Tag_2

Example scenario
Your current program uses Tag_1 in the Find Visual Offset node, and all waypoints are relative to it. You now want to use Tag_2 instead.

  1. Copy the Find Visual Offset node
    Duplicate your existing Find Visual Offset node using Tag_1. This creates a backup reference in case you need to go back.

  2. Suppress the original Find Visual Offset node
    Suppress the initial Find Visual Offset that used Tag_1 to avoid conflicts.

  3. Add a script assignment before the new Find Visual Offset
    Insert the following line to calculate the pose of Tag_1 in the Tag_2 reference frame:

     
    tag1_from_tag2 := pose_trans(pose_inv(Tag_2), Tag_1)

    This creates a dynamic link between the two tags.

  4. Reset the new Find Visual Offset node
    Reconfigure the new node to detect Tag_2 instead of Tag_1 using the Change Tag button.

  5. Update the Apply Visual Offset node
    Make sure this node is now based on Tag_2.

  6. Adjust relative movements
    Before any movement that still uses Tag_1, insert the following assignment:

     
    Tag_1 := pose_trans(Tag_2, tag1_from_tag2)

    This ensures that all movements originally based on Tag_1 will now work correctly relative to Tag_2.

  7. Review the updated program
    Your program is now adapted to use Tag_2 as its new reference while keeping all previous waypoints functional.

Conclusion

By using this method, you can switch the reference tag in your visual offset setup without needing to re-teach each waypoint. This saves time and ensures consistent behavior, especially in complex setups with many relative positions.

Updated

09/2025