Get_actual_tcp_pose() through URCap

[elad]

Hi Everybody,

I’ve created a simple, doing-nothing-for-now, urcap which have a button in it.
Now, I want so send a get_actual_tcp_pose() command through an open socket to my server whenever the user is pressing the button.
How can I do that?

using UR5E, with Polyscope 5.12
the robot is a client, my cpp software is the server.

Thanks!
Elad.