https://github.com/universalrobots/mytoolbarjog

Example of using the toolbar to incrementally jog the robot in Cartesian space by sending urscript over the primary client interface
https://github.com/universalrobots/mytoolbarjog

jog primary-client-interface toolbar urcap

Last synced: 4 months ago
JSON representation

Example of using the toolbar to incrementally jog the robot in Cartesian space by sending urscript over the primary client interface

• Host: GitHub
• URL: https://github.com/universalrobots/mytoolbarjog
• Owner: UniversalRobots
• License: bsd-3-clause
• Created: 2022-11-09T08:05:50.000Z (about 3 years ago)
• Default Branch: main
• Last Pushed: 2023-11-21T14:00:13.000Z (about 2 years ago)
• Last Synced: 2023-11-21T15:27:14.161Z (about 2 years ago)
• Topics: jog, primary-client-interface, toolbar, urcap
• Language: Java
• Homepage:
• Size: 118 KB
• Stars: 2
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE

Awesome Lists containing this project

README

          
# MyToolbarJog

[![License](https://img.shields.io/github/license/UniversalRobots/MyToolbarJog?label=License&style=flat-square)](LICENSE)

[![Git Release](https://img.shields.io/github/release/UniversalRobots/MyToolbarJog?label=Release&style=flat-square)](https://github.com/UniversalRobots/MyToolbarJog/releases)

[![Issues](https://img.shields.io/github/issues/UniversalRobots/MyToolBarJog?label=Issues&style=flat-square)](https://github.com/UniversalRobots/MyToolbarJog/issues)

![Repo Size](https://img.shields.io/github/languages/code-size/UniversalRobots/MyToolBarJog?label=Size&style=flat-square)

URCap sample that allows users to incrementally jog the robot in cartesian space through the toolbar. The URCap demonstrates how to:

1. Create a toolbar (as [MyToolbar](https://github.com/UniversalRobots/MyToolbar))

2. Connect to the Dashboard server of the robot through Java

3. Send script commands from a URCap to the robot over the primary client interface

4. Make a Github workflow to build URCap in CI.

## Usage

The URCap functionality is accessed through the toolbar. The step size can be set by either dragging in the (logarithmic) scale or simply entering a value in the input field far right. The robot is then moved by activating one of the six buttons.



## Software Versions

This URCap has been developed using:

- URCap API version 1.12.0

- PolyScope version 5.12.4

Usage of the URCap on any other combination of software remains untested (will likely work however).

## Support

Installation problems? Feature requests? General questions?

* create an issue on the [project](https://github.com/UniversalRobots/MyToolbarJog/issues)

## Contributions

We welcome contributions to this URCap by the community! Please refer to the [Contribution Guide](CONTRIBUTING.md).

## Acknowledgements

This project is developed by the [Universal Robots A/S](https://universal-robots.com/) (UR) and is released under the [BSD 3-Clause License](LICENSE) found in the root of this repository. [Nicolai Anton Lynnerup](https://github.com/naly-ur) developed the URCap to jog the robot incrementally in cartesian space as a response to customer interviews conducted in 2022. The CI in this repo is heavily inspired by the work of [

Felix Exner](https://github.com/fmauch) (from: [FZI](https://www.fzi.de/)) performed for UR when developing the [External Control URCap](https://github.com/UniversalRobots/Universal_Robots_ExternalControl_URCap).