Get (Safe) HomePosition from API or any Interface

[fujikit]

Hi, @m.birkholz

I have created the urcap for going safety home just now.
I uploaded this to github.
I am sorry if my urcap is not what you expected.

URCap Sample: Go Safety Home URCap

Go Safety Home URCap Description of functionality: The feature of this urcap is that the way to go safety home so as not to interfere from anywhere is created. What topics are covered: URCaps Samples GITHUB LINK github Requirements: URCaps SDK v.1.9.0 Example When actual tcp pose is X=-150 Y=200 Z=150, robot moves linearly in the Z direction by 80mm at first because the pose is within conditions. [Screenshot from 2020-04-24 22-43-23]