# Contribute Installation Features from URCap **URL:** \ **Category:** Product Wishlist\ **Created:** [May 9, 2019, 2:20am UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264 "2019-05-09T02:20:07Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![anon91082083](https://avatars.discourse-cdn.com/v4/letter/a/2bfe46/32.png) [@anon91082083](https://forum.universal-robots.com/u/anon91082083)\ **Post date:** [May 9, 2019, 2:20am UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/1 "2019-05-09T02:20:07Z")
Is it possible to contribute and define installation features using the api? Rather than setting a feature point within the “features” tab, I would like to be able to click a button within my urcap installation node that creates/modifies a feature from a user defined pose (using the robot position call back). It would be nice to be able to add the feature to the feature list as well. I think this could be accomplished by allowing for a method to setPose on a Feature type, similar to how you can getPose on one in the current api version. ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [May 14, 2019, 2:25pm UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/2 "2019-05-14T14:25:15Z")
This is noted as a feature request. It is somehow related to this post as well: > [@Call to create plane feature from URCap](https://forum.universal-robots.com/t/call-to-create-plane-feature-from-urcap/2392/2): > > In order to call the “Move” tab the following code can be used: public void selectCenterPoint() { UserInterfaceAPI uiapi = apiProvider.getUserInterfaceAPI(); uiapi.getUserInteraction().getUserDefinedRobotPosition(new RobotPositionCallback() { @Override public void onOk(Pose pose, JointPositions jointPositions) { } }); } However, do you have a callback function to the “Plane” tab? ---
**Author:** ![malacasse](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/malacasse/32/56_2.png) [@malacasse](https://forum.universal-robots.com/u/malacasse)\ **Post date:** [October 3, 2019, 4:55pm UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/3 "2019-10-03T16:55:37Z")
@jbm @ajp We developpe tool to offset a process based on visual tag or touch. The user programs the process relative to a feature and our URCaps modify the feature value to offset the process at runtime. If the client wants to modify his process, he need to be very carefull because the feature value in installation tab do not follow the process. With the possibility the create and modify feature in installation tab, lots of our tools would became much more easy to use. Can you give us an update about this feature request ? Is it in the road map ? thanks ---
**Author:** ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp)\ **Post date:** [October 10, 2019, 8:09am UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/4 "2019-10-10T08:09:12Z")
Hi @malacasse, I’m afraid I don’t have any info on whether this is in the roadmap. @jbm may be able to help? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 12, 2019, 8:11am UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/5 "2019-12-12T08:11:13Z")
This is implemented in 5.6 / 3.12. > [@Release of URCap SDK 1.9.0, PolyScope 5.6 and 3.12](https://forum.universal-robots.com/t/release-of-urcap-sdk-1-9-0-polyscope-5-6-and-3-12/5763): > > Dear valued developers, Universal Robots is delighted to announce, that we are now releasing a new software, to continuously deliver more value to you and our customers.The new release consist of: PolyScope 5.6.0 for e-Series PolyScope 3.12.0 for CB3 URCap SDK 1.9.0 including URCap API 1.9.0 for both platforms Key features The key features in this release is: Drivers URCap Gripper Drivers Support for Grip Detection and Release Detection See updated example “Advanced Gripper” for implem… ---
**Author:** ![anon91082083](https://avatars.discourse-cdn.com/v4/letter/a/2bfe46/32.png) [@anon91082083](https://forum.universal-robots.com/u/anon91082083)\ **Post date:** [December 16, 2019, 9:14pm UTC](https://forum.universal-robots.com/t/contribute-installation-features-from-urcap/4264/6 "2019-12-16T21:14:39Z")
Thank you @jbm for your assistance implementing this feature request!