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MyToolbarJog

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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)
  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?

Contributions

We welcome contributions to this URCap by the community! Please refer to the Contribution Guide.

Acknowledgements

This project is developed by the Universal Robots A/S (UR) and is released under the BSD 3-Clause License found in the root of this repository. Nicolai Anton Lynnerup 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 (from: FZI) performed for UR when developing the External Control URCap.