Problem getting robot Pose

URCap Development
1

Hi there,
As a newbie in the URCAP - I’ve got question that might be silly.
I would like to to import current robot pose into the array - I’ve tried two options:
1/

	private Pose pose;
	private PositionParameters positionparameters;
	private Unit unit = Length.Unit.MM;
	System.out.print(x1);
	System.out.println(y)
	
	double x1 = positionParameters.getPose().getPosition().getX(unit);
	double y = pose.getPosition().getX(unit);

In each case I’ve return “:null” as an output. Could you gime me some hints?
I’ll be greatfull.

2

Hi @IMS.Control ,

Welcome to the UR community!

Your variable “positionparameters” seems to be unassigned. You can utilize the RobotPositionCallback2 Callback in the package “com.ur.urcap.api.domain.userinteraction” to initialize it.

Best regards
Ebbe

3

Hi Ebbe,
Thank you for your feedback - much appreciate it. I’ve tried as you mentioned however I still get NullPointer. Code is below - I will be greatful for any feedback.

public void executeChanges() {
				//SetRecordingOn();
				//Record(1);
				
			
				UserInterfaceAPI uiapi = apiProvider.getUserInterfaceAPI();
				uiapi.getUserInteraction().getUserDefinedRobotPosition(new RobotPositionCallback2() {
					@Override
					public void onOk(PositionParameters positionParameters) {
						model.set(JP, positionParameters.getPose());
						removeNodes();
						//PrintPos(positionParameters);
					}
				});
				Unit unit = Length.Unit.MM;
				Pose centerPose = datamodel.get(JP, (Pose) null);
				System.out.print(centerPose.getPosition().getX(unit));

			}
		});
4

Hi @IMS.Control,

Have the callback been executed? And was the pose also null during the execution?

Ebbe

5

Dear @Ebbe,
Thank you for your help - finally I get there :slight_smile:
However with code below to get the position I need to confirm by clicking OK on the pendant - can I just print it without user interaction ?

		UserInterfaceAPI uiapi = apiProvider.getUserInterfaceAPI();
		uiapi.getUserInteraction().getUserDefinedRobotPosition(new RobotPositionCallback2() {
			@Override
			public void onOk(PositionParameters positionParameters) {
				model.set(JP, positionParameters.getPose());
				removeNodes();
				PrintPos(positionParameters);
			}
		});
		

		
	}
	
	private void PrintPos(PositionParameters positionParameters) {
		Unit unit = Length.Unit.MM;
		model.set(JP, positionParameters.getPose());
		System.out.println(positionParameters.getPose().getPosition().getX(unit));
		
		
		
	}
6

HI @IMS.Control

In the project URCap Sample: URCap-ScriptCommunicator you can utialize the method get_actual_tcp_pose() that is member of the class ScriptProxy in the com.jbm.urcap.sample.scriptCommunicator.communicator package.

That should give you the current Pose of the robot including the TCP offset.

Ebbe