Universal Robots Forum

Adding an instruction before my URCap


Is it possible to add an instruction (normal node or custom urcap node) before my URCap node? And also if it’s possible to search the root program node for MyOtherUCap nodes?

i’ve tried the following code and it generates an exception:

URCapProgramNode node = programNodeFactory.createURCapProgramNode(MyOtherURCap.class));
programRootNode.insertChildBefore(programRootNode.getChildren().get(0), node);