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Merge pull request #19 from urmahp/test_urcap
Added a test, that verifies that the URCap can be used with a driver
2 parents cf275f3 + 9bbe63f commit dc8ccce

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‎.github/dockerursim/.vol/default.installation‎

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<Installation directory="/ursim/programs" fileName="default" showSpeedSliderOnRunTab="false">
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<IOs>
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<DigitalInputNames value=", , , , , , , "/>
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<DigitalOutputNames value=", , , , , , , "/>
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<ToolDigitalInputNames value=", "/>
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<ToolDigitalOutputNames value=", "/>
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<ToolAnalogInputNames value=", "/>
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<AnalogInputNames value=", "/>
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<AnalogOutputNames value=", "/>
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<ConfigurableInputNames value=", , , , , , , "/>
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<ConfigurableOutputNames value=", , , , , , , "/>
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<outputSignalOptions value="0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0"/>
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<analogInputRange value="1, 1, 1, 1"/>
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<analogOutputDomain value="0, 0"/>
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<DigitalInputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<ToolDigitalInputActions value="NONE, NONE"/>
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<ConfigurableInputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<DigitalOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<ToolDigitalOutputActions value="NONE, NONE"/>
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<AnalogOutputActions value="NONE, NONE"/>
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<ConfigurableOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<euromapOutputModificationChoice value="1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1"/>
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<euromapOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<GeneralPurposeBooleanRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeBooleanRegisterOutputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeIntRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeIntRegisterOutputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeFloatRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeFloatRegisterOutputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
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<GeneralPurposeBooleanRegisterInputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<GeneralPurposeBooleanRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<GeneralPurposeIntRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<GeneralPurposeFloatRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
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<ModbusUnits/>
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</IOs>
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<Version projectName="URSoftware" major="5" minor="11" bugfix="1" buildNumber="108318" buildDate="Jun 18 2021, 12:00:00"/>
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<LastSavedInVersion reference="../Version"/>
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<SmoothTransitionSettings transitionHardness="SOFT"/>
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<ResourceControlSettings/>
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<ContinuousPulse/>
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<PayloadSettings>
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<Payload name="Payload" mass="0.0" defaultPayload="true" centerOfGravity="0.0, 0.0, 0.0" inertiaParameters="0.0, 0.0, 0.0, 0.0, 0.0, 0.0" customInertiaEnabled="false"/>
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</PayloadSettings>
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<SafeHomeSettings enabled="true" position="0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, 0.0"/>
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<TCPSettings activePose="TCP">
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<availablePoses>
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<tcp id="2e4b410d-3d81-4c59-937c-087544210280" name="TCP" offset="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
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</availablePoses>
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</TCPSettings>
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<DefaultProgramSettings autoLoad="false"/>
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<Features>
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<CameraView>
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<worldTransform class="WorldTransform">
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<WorldtoMarshal showAxes="false" isVariable="false" baseAngle="0.0" tiltAngle="0.0"/>
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</worldTransform>
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</CameraView>
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<BaseView>
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<BaseView showAxes="true" joggable="true" isVariable="false" id="1b785537-e70a-4c26-a8af-4602e931277e"/>
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</BaseView>
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<ToolView>
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<ToolView showAxes="true" joggable="true" isVariable="false" id="3a9e24b6-0faf-4e81-8344-6af13d2e6405"/>
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</ToolView>
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</Features>
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<ToolCommSettings enabled="false" toolAnalogInput2="VOLTAGE" toolAnalogInput3="VOLTAGE" baudRate="BAUD_115200" parity="NONE" stopBits="ONE" rxIdleChars="1.5" txIdleChars="3.5" toolOutputMode="OUTPUT" toolDigitalOutput0="SINKING" toolDigitalOutput1="SINKING" toolOutputVoltage="ZERO"/>
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<SafetySettings>
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[SafetyLimits BoundaryPlane0]
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name = Safety plane 0
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane1]
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name = Safety plane 1
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane2]
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name = Safety plane 2
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane3]
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name = Safety plane 3
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane4]
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name = Safety plane 4
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane5]
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name = Safety plane 5
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane6]
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name = Safety plane 6
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits BoundaryPlane7]
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name = Safety plane 7
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displacement = 0.0
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mode = DISABLED
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planeNormal = [0.0, 0.0, 0.0]
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distanceToOrigin = 0.0
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elbowRestricted = true
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[SafetyLimits ToolOrientation]
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tcpOrientationVector = [0.0, 0.0, 1.0]
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maximumTcpOrientationDeviation = 3.159045946109736
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mode = DISABLED
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[WorkpieceConfiguration]
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toolSpheres = [[0.0, 0.0, 0.0, 0.0]]
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toolSphereNames = [Tool Flange]
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toolSphereIDs = [null]
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toolDirectionInclination = 0.0
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toolDirectionAzimuth = 0.0
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[ThreePositionEnabling]
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useTP3PE = 0
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allowManualHighSpeed = 1
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[MiscConfiguration]
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teach_pendant = 1
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euromap67 = 0
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[SafetyLimits Normal Values]
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maxTcpSpeed = 1.5
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maxForce = 150.0
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maxElbowSpeed = 1.5
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maxElbowForce = 150.0
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maxStoppingDistance = 0.5
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maxStoppingTime = 0.4
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maxPower = 300.0
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maxMomentum = 25.0
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[SafetyLimits Normal Joints]
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maxJointSpeed = [3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933]
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minJointPosition = [6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586]
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maxJointPosition = [0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986]
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minJointRevolutions = [-2, -2, -2, -2, -2, -2]
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maxJointRevolutions = [1, 1, 1, 1, 1, 1]
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[SafetyLimits Reduced Values]
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maxTcpSpeed = 0.75
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maxForce = 120.0
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maxElbowSpeed = 0.75
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maxElbowForce = 120.0
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maxStoppingDistance = 0.3
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maxStoppingTime = 0.3
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maxPower = 200.0
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maxMomentum = 10.0
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[SafetyLimits Reduced Joints]
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maxJointSpeed = [3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933, 3.3415926535897933]
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minJointPosition = [6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586, 6.230825429179586]
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maxJointPosition = [0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986, 0.05235987799999986]
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minJointRevolutions = [-2, -2, -2, -2, -2, -2]
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maxJointRevolutions = [1, 1, 1, 1, 1, 1]
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[SafetySetup]
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withPositionLimits = [true, true, true, true, true, true]
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verified = true
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[Safety Checksum]
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version = 5.5
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crc = 1475618907
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[SafeHome]
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safeHomePosition = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
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[SafetyIOConfiguration Inputs]
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emergencyStopInputA = 255
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emergencyStopInputB = 255
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reducedModeInputA = 255
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reducedModeInputB = 255
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safeguardStopResetInputA = 0
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safeguardStopResetInputB = 1
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threePositionEnablingInputA = 255
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threePositionEnablingInputB = 255
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operationalModeInputA = 255
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operationalModeInputB = 255
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automaticModeSafeguardStopInputA = 255
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automaticModeSafeguardStopInputB = 255
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automaticModeSafeguardStopResetInputA = 255
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automaticModeSafeguardStopResetInputB = 255
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[SafetyIOConfiguration Outputs]
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systemEmergencyStopOutputA = 255
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systemEmergencyStopOutputB = 255
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robotMovingOutputA = 255
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robotMovingOutputB = 255
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robotNotStoppingOutputA = 255
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robotNotStoppingOutputB = 255
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reducedModeOutputA = 255
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reducedModeOutputB = 255
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notReducedModeOutputA = 255
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notReducedModeOutputB = 255
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safeHomeOutputA = 255
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safeHomeOutputB = 255
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configOut0and1_OSSD = 0
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configOut2and3_OSSD = 0
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configOut4and5_OSSD = 0
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configOut6and7_OSSD = 0
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</SafetySettings>
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<Contributions>
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<URCaps>
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<Contributed ownerId="com.ur.urcap.conveyortracking" id="ConveyorTracking" installationContributionTitle="com.ur.urcap.conveyortracking" vendor="Universal Robots" name="Conveyor Tracking"/>
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<Contributed ownerId="com.ur.urcap.ethernetip" id="EthernetIP" installationContributionTitle="com.ur.urcap.ethernetip" vendor="Universal Robots" name="Ethernet/IP"/>
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<Contributed ownerId="com.ur.urcap.profinet" id="com.ur.urcap.profinet" installationContributionTitle="com.ur.urcap.profinet" vendor="Universal Robots" name="Profinet"/>
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<Contributed ownerId="com.fzi.externalcontrol" id="com.fzi.externalcontrol.impl.ExternalControlInstallationNodeService" installationContributionTitle="com.fzi.externalcontrol" vendor="FZI Research Center for Information Technology" name="External Control">
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<data key="host_ip" value="127.0.0.1"/>
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<data key="name" value="127.0.0.1"/>
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</Contributed>
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<Contributed ownerId="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" id="com.ur.polyscope.screwdriving.installation.ScrewdrivingInstallationNodeService" installationContributionTitle="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" vendor="Universal Robots" name="polyscope-screwdriving-impl"/>
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</URCaps>
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</Contributions>
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</Installation>

‎.github/dockerursim/.vol/default.variables‎

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#
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#Fri Jun 18 10:27:46 BST 2021

‎.github/dockerursim/.vol/multiple_urcaps.urp‎

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<URProgram name="multiple_urcaps" installation="default" installationRelativePath="default" directory="/ursim/programs" createdIn="5.11.1.108318" lastSavedIn="5.11.1.108318" robotSerialNumber="20195599999" crcValue="1475618907">
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<kinematics status="NOT_INITIALIZED" validChecksum="false">
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<deltaTheta value="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
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<a value="0.0, -0.425, -0.3922, 0.0, 0.0, 0.0"/>
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<d value="0.1625, 0.0, 0.0, 0.1333, 0.0997, 0.0996"/>
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<alpha value="1.570796327, 0.0, 0.0, 1.570796327, -1.570796327, 0.0"/>
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<jointChecksum value="-1, -1, -1, -1, -1, -1"/>
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</kinematics>
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<children>
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<MainProgram runOnlyOnce="true" InitVariablesNode="false">
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<children>
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<Contributed strategyClass="com.fzi.externalcontrol.ExternalControlNode" strategyProgramNodeType="External Control" strategyURCapDeveloper="FZI Research Center for Information Technology" strategyURCapName="External Control">
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<dataModel/>
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</Contributed>
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<Wait type="Sleep">
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<waitTime>1.0</waitTime>
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</Wait>
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<Contributed strategyClass="com.fzi.externalcontrol.ExternalControlNode" strategyProgramNodeType="External Control" strategyURCapDeveloper="FZI Research Center for Information Technology" strategyURCapName="External Control">
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<dataModel/>
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</Contributed>
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</children>
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</MainProgram>
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</children>
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</URProgram>

‎.github/dockerursim/.vol/one_urcap.urp‎

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<URProgram name="one_urcap" installation="default" installationRelativePath="default" directory="/ursim/programs" createdIn="5.11.1.108318" lastSavedIn="5.11.1.108318" robotSerialNumber="20195599999" crcValue="1475618907">
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<kinematics status="NOT_INITIALIZED" validChecksum="false">
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<deltaTheta value="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
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<a value="0.0, -0.425, -0.3922, 0.0, 0.0, 0.0"/>
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<d value="0.1625, 0.0, 0.0, 0.1333, 0.0997, 0.0996"/>
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<alpha value="1.570796327, 0.0, 0.0, 1.570796327, -1.570796327, 0.0"/>
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<jointChecksum value="-1, -1, -1, -1, -1, -1"/>
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</kinematics>
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<children>
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<MainProgram runOnlyOnce="true" InitVariablesNode="false">
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<children>
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<Wait type="Sleep">
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<waitTime>1.0</waitTime>
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</Wait>
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<Contributed strategyClass="com.fzi.externalcontrol.ExternalControlNode" strategyProgramNodeType="External Control" strategyURCapDeveloper="FZI Research Center for Information Technology" strategyURCapName="External Control">
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<dataModel/>
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</Contributed>
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</children>
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</MainProgram>
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</children>
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</URProgram>

‎.github/dockerursim/.vol/programs.UR5‎

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/ursim/programs.UR5

‎.github/dockerursim/build_and_run_docker_ursim.sh‎

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#!/bin/bash
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DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
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# Make directory to store the URCap
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mkdir ${DIR}/urcaps 2>/dev/null
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cp target/externalcontrol-*.jar ${DIR}/urcaps/externalcontrol.jar
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docker run --rm --name="mydockerursim" -d \
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-e ROBOT_MODEL=UR5 \
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--network host \
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-v "${DIR}/.vol":/ursim/programs \
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-v "${DIR}/urcaps":/urcaps \
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--privileged \
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--cpus=1 \
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universalrobots/ursim_e-series

‎.github/helpers/wait_for_dashboard_server.sh‎

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#!/bin/bash
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netcat -z 127.0.0.1 29999
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while [ $? -eq 1 ]
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do
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echo "Dashboard server not accepting connections..."
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sleep 3
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netcat -z 127.0.0.1 29999
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done
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echo "Dashboard server connections are possible."
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sleep 5

‎.github/workflows/build.yaml‎

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- uses: ./.github/actions/build_urcap
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env:
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SDK_VERSION: ${{ matrix.SDK_VERSION }}
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- name: Run URSim
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run: |
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.github/dockerursim/build_and_run_docker_ursim.sh
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- name: Install netcat
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run: |
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sudo apt-get update && sudo apt-get install -y netcat
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- name: Wait for dashboard client
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run: |
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./.github/helpers/wait_for_dashboard_server.sh
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- name: Run test
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run: |
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python3 tests/test_urcap.py
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- name: Upload urcap_artifact
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uses: actions/upload-artifact@v1
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with:
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path: target
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name: external_control_sdk-${{ matrix.SDK_VERSION }}.urcap
22-

‎examples/simple_external_control_server/hello_world.script‎

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Original file line numberDiff line numberDiff line change
@@ -1 +1,10 @@
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popup("Hello world")
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def test_func():
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textmsg("test function")
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end
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# NODE_CONTROL_LOOP_BEGINS
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test_func()
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# NODE_CONTROL_LOOP_ENDS

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