Reading output flange pose / TCP offset from URCap

URCap Development
1

Hi everybody,

I know that from RTDE the actual TCP pose can be read. On the other hand, reading modbus registers within the URScript allows to get the TCP offset with respect to the output flange.
Is it possible to read the output flange pose, or the TCP offset from within RTDE, the URcap or a Python daemon? Maybe reading modbus registers from within the URCap will do, but I haven’t found a way to do so.

Any help is very much appreciated.