Universal Robots+

Is_within_safety_limits from URCAP

I need to run an URCAP similar to the example of the Ellipse.
However before adding the waypoints derived from the central point, I need to check if the POSE are reachable.

Is there any URCAP command for it or do I need to use some server communications such as port 30001?!?

Hi @tulio

There is no method in the API. But you can use the skeleton provided here to implement the method:

Ok…I´m galb that there is an already Java work around!
Thanks for the support! :grinning: :grinning: