Getting JointAngles from Waypoints

[fujikit]

Hi.

It is possible that you decide the direction of first move as alternative.
Please try to use this sample.

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]