Joint angles and Cartesian Pose API Documentation in Universal Robots Manual

[ssvision]

Hi, I wanted to know which parts of the documentation you refereed to get the joint angles and Cartesian pose. I want to find out the exact API's so if you could please point me to the required pages in the documentation manual. This is because I need to add features for getting joint torques and tcp forces and other data from the robot. If you could point it out to me, I could read the documentation and add those required features into a PR as well as per requirement. I am referring to the code here.

[MGross21]

I believe I have linked to it before. Still, all robot manufacturers have a README file in each of their respective folders, which contains links to webpages that I either used or found to be useful for potential further expansion. See structure below:

armctl/
├── universal_robots/
│   └── README.md
├── dobot/
│   └── README.md
├── elephant_robotics/
│   └── README.md
├── fanuc/
│   └── README.md
...(cont)...

The specific readme link for UR is found here. Within that page is the RTDE Protocol documentation, which this library now uses. That links to this page. In there, you may find the outputs that you are looking for, and then you can add them within the files in the /ur/protocol/ folder.

With all that said, I welcome your proposed changes; however, the major intention behind this library was not to build feature-complete robotic controllers on their own, but rather to have the same features accessible to all robots in this library (see API note at top of this section).