Universal Robots Forum

Change waypoint configuration while robot is running

Is it possible to make new waypoint configurations and updating the waypoint continues while the robot is running using setConfig() on a waypoint node?

I’m trying to create a configuration using waypointNodeConfigFactory.createFixedPositionConfig(pose, jointPositions, blendParameters, motionParameters); but I can’t figure out how to get a usable jointPositions. I have tried JointPosition[] jp = jointPositions.getAllJointPositions() and creating a jointPositions but polyscope gives a nullPointerException.

Can I create a Position configuration another way?