Retrieving robot position via Secondary Interface

[dhv]

I think you want to look at this example but it uses the realtime client though:

URCap Sample: getRobotData Real Time Client reader URCap

getRobotData Real Time Client reader URCap Description of functionality: This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message. The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods a…