Reading Joint Acceleration and Joint Speed from a Waypoint

URCap Development
1

Hi,

I can’t seem to find a way to use the getJointAcceleration() and getJointSpeed() functions on a Waypoint Node. Could anyone provide lines of code?

I also need a q_near value, because I want to put the movej line in the urscript.

This is the code I use for getting the pose of the waypoint:

WaypointNode wpNode = (WaypointNode) wpTreeNode.getChildren().get(0).getProgramNode();
FixedPositionDefinedWaypointNodeConfig wpNodeConfig = (FixedPositionDefinedWaypointNodeConfig) wpNode.getConfig();
Pose wpPose = wpNodeConfig.getPose();

Thank you in advance for any help :slight_smile: