read the tool used for jogging the iiwa

  • The remote application needs to read the actual position of the iiwa (which is ok) but needs also to read the tool (name of the tool and tool frame) used for jogging the iiwa in that actual position. This could be done easily by reading the RoboticsAPI.data.xml file, but it supposes that the actual position has been saved by the smartpad user. How can we read the tool information if the position has not been saved?

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