Is_within_safety_limits from URCAP

[tulio]

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?!?

[Ebbe]

Hi @tulio

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

URCap Sample: URCap-ScriptCommunicator

Dear community, I have forked Jacobs URCap-ScriptCommunicator and added the framework to proxy URScript functions from Java. So far it is only a subset of the functions that are implemented yet. I hope you will add the functions when you need is there and then share it with the rest of the community! Description of functionality: This sample implements a Java class to: Send URScript commands for immediate execution by URControl Extract a variable from URScript to Java Proxy URScript functio…

[tulio]

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