Universal Robots Forum

Obtaining robot controller outputs in installation node view

Hi,

I am working on a URCap Installation node to monitor the state of the robot. I read the RTDE Guide and viewed the Python example but I cannot find how to use the robot outputs from the python script in the Java installation node or Daemon. Do I have to use XML-RPC from the python file to the java class? Or is it possible to get the robot state directly from the java class without using python? I wasn’t able to find a similar example in the documentation or on the forum.

Thanks,
Laurent