I would like to get the TCP pose and Features from installation file by using URCap.
Could you please suggest how to do it
Have a look at the following documentation. Both Tool and Features can be retrieved from FeatureModel.
Here is a snippet for tool pose.
FeatureModel featureModel = apiProvider.getInstallationAPI().getFeatureModel(); Pose toolPose = featureModel.getToolFeature().getPose();
Thanks so much. it works for Base and Tool
Could you please also give me an snippet for other feature as Point and Plane I try to get it but
can’t and how to get the TCP Pose with name from installation file as below image.
Have a look at the Whip welding URCap sample, it shows how to retrieve a list of feature planes. The same method applies for points.
Hopefully somebody else can help you with the second question, I have yet to try retrieving a list of user defined TCPs.
Does anyone know how to get list of user defined TCPs in Java?
OK, I have found it in ToolChangerSwing example in URCaps SDK