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?