Posts by pragulka

Context data can be read by an application whenever they have not been saved/recorded

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?

Yes it happens when the robot is near a singularity or near it's working space limit. I do resolve the problem with :

1. using SmartServo class rather than SmartServoLIN class. It enables error interception which seems not to be the case with SmartServoLIN;

2. using a space limit survey background task

I do have the same problem now. Did you get any solution?