[noth]

hello,

i'm using UR5 for spraying. i need to make symmetry. For position i don't have problems. is it possible to inverse the orientation of tcp (rx,ry,rz) ? any suggestions?

[Albert]

You can have a per-axis scale by following these steps:

1. Tools-Run script-SelectScaleXYZ
   
2. Select the object/tool you want to modify
   
3. Enter per axis scales. For example, if you want to mirror axis X you should enter [-1 , 1 , 1]
   

However, this won't apply to your TCP so you should mirror the TCP manually.