Hello everybody.I am modifying my submit interpreter and in trying to read the actual position system variable for logging and I get an error about bco not being reached. Mind you that I am of course not trying to modify the motion state, because it seems it is not allowed in the submit files to explicitly or implicitly move the robot. Fine. But why not being able to read? Now I can read the axes alright but before bco the position and orientation is NaN so I guess this causes the error.
Any ideas of how to overcome this? A few mitigations in mind 1. If there is a flag that I am not aware of that records whether bco has been reached state I could differ my attempt to read undefined data and avoid the exception (ideal). 2. I could somehow catch the thrown execution and then I could suppress it locally without crashing the whole submit (ugly) 3. Could the bco_move variable with parity control to kinda make my own bco_reached flag (hack). 4. Force the user to set a global bro_reached flag after the first ptp (lazy on my size).
Any ideas or recommendations very much appreciated
S.