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