Metadata-Version: 2.1
Name: urinterface
Version: 0.0.1
Summary: UR Robot Interface
Home-page: https://gitlab.au.dk/clagms/urinterface
Author: Claudio Gomes and Emil Madsen
Author-email: claudio.gomes@eng.au.dk
License: INTOCPS
Description: # URInterface
        
        ## Overview 
        
        This library facilitates data acquisition and commands of the UR Robot e-series.
        It establishes a TCP/IP connection to the UR robot and allows to execute UR script commands, log data, etc.
        Please note, that the robot should be configured in `Remote Control` mode.
        The UR robot can be controlled remotely in various ways:
        1. Dashboard server (port 29999): https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/
           Allows for commands like `power on`, `load <program.urp>`, `play`, `stop`, `pause`, etc.
        2. Send script commands (port 30001 or 30002): https://www.universal-robots.com/articles/ur/remote-control-via-tcpip/
           Allows for commands like `movej([0.1,0.2,0.3,0.4,0.5,0.6],v=1.0,a=2.0)` and many more, see
           https://www.universal-robots.com/download/?option=77326#section77085
           Frequency: 10 Hz
        3. Real-Time Data Exchange (RTDE): https://www.universal-robots.com/articles/ur/real-time-data-exchange-rtde-guide/
           Allows to send and receive data with up to 500 Hz
        
        ## Installing URInterface from pip
        
        ```
        pip install urinterface
        ```
        
        ## Installing URInterface locally (for development and local use)
        
        Change to the root directory of this project and:
        ```
        pip install -e .
        ```
        
        
        ## Setting up dev environment in PyCharm.
        
        1. Open the root of this repo as a new project from sources in PyCharm.
        1. Make sure that most root folders are set as project source folders (Settings > Project Structure > Mark the folders as source folders )
        1. Run the tests and install missing dependencies
        
        ## Installing UR Robot Simulator
        
        If using virtual box, then follow the instructions in https://www.universal-robots.com/download/
        
        If using Hyper-V, then install ubuntu VM and then install the UR Robot simulator.
        
        ## Publishing this package on pypi
        
        Instructions adapted from: https://packaging.python.org/tutorials/packaging-projects/
        Make sure to install dependencies:
        ```
        pip install setuptools wheel
        ```
        
        ```
        python setup.py sdist
        python setup.py bdist_wheel
        python -m twine upload dist/*
        set user and password according to pypi's api token
        ```
        
        
        
        
        
        
        ## Common Errors
        
        ### Failure to boot from ISO file
        
        with the following error:
        
        Signed image's hash is not allowed (DB).
        
        ![image-20200908172518929](assets/image-20200908172518929.png)
        
        The solution is to follow this guide: https://www.thomasmaurer.ch/2018/06/how-to-install-ubuntu-in-a-hyper-v-generation-2-virtual-machine/
        
        
        
        ## Error when running the unit tests from PyCharm
        
        Similar error:
        
        ```
        Testing started at 08:54 ...
        H:\srcctrl\gitlab\urinterface\venv\Scripts\python.exe "C:\Program Files\JetBrains\PyCharm Community Edition 2020.1.1\plugins\python-ce\helpers\pycharm\_jb_pytest_runner.py" --target robot_connection_tests.py::MyTestCase.test_dummy_start_stop_record
        Traceback (most recent call last):
          File "C:\Program Files\JetBrains\PyCharm Community Edition 2020.1.1\plugins\python-ce\helpers\pycharm\_jb_pytest_runner.py", line 4, in <module>
            import pytest
        ModuleNotFoundError: No module named 'pytest'
        
        Process finished with exit code 1
        ```
        
        Solution: 
        
        1. Clear all run configurations, and create a new one using unittest.
        
        
Keywords: python,ur robot,universal robot
Platform: UNKNOWN
Classifier: Development Status :: 4 - Beta
Classifier: Intended Audience :: Developers
Classifier: License :: OSI Approved :: MIT License
Classifier: Programming Language :: Python
Classifier: Programming Language :: Python :: 3
Classifier: Programming Language :: Python :: 3 :: Only
Classifier: Programming Language :: Python :: 3.6
Classifier: Programming Language :: Python :: 3.7
Classifier: Programming Language :: Python :: 3.8
Description-Content-Type: text/markdown
