It’s clear how to get the digital & analog I/O interfaces (via the com.ur.urcap.sample.manipulateIO example), however, I also need to be able to turn on/off 24V to the end effector tool from java (something equivalent to the script function set_tool_voltage() that can be called from within the ProgramNodeContribution class implementation).
There is no polyscope API for that function. You have to send set_tool_voltage command directly to controller.
Take a look on this forum post to get something to start from.
Thanks so much, I was able to modify the clientSendScript.java code provided in the com.ur.urcap.sample.sendScriptWithButton example to do the job.