Package: urinterface
URInterfaceOverviewThis 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 inRemote Controlmode.
The UR robot can be controlled remotely in various ways:Dashboard server (port 29999):https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/Allows for commands likepower on,load <program.urp>,play,stop,pause, etc.Send script commands (port 30001 or 30002):https://www.universal-robots.com/articles/ur/remote-control-via-tcpip/Allows for commands likemovej([0.1,0.2,0.3,0.4,0.5,0.6],v=1.0,a=2.0)and many more, seehttps://www.universal-robots.com/download/?option=77326#section77085Frequency: 10 HzReal-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 HzInstalling URInterface from pippip install urinterfaceInstalling 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.Open the root of this repo as a new project from sources in PyCharm.Make sure that most root folders are set as project source folders (Settings > Project Structure > Mark the folders as source folders )Run the tests and install missing dependenciesInstalling UR Robot SimulatorIf using virtual box, then follow the instructions inhttps://www.universal-robots.com/download/If using Hyper-V, then install ubuntu VM and then install the UR Robot simulator. Make use to use the quick create menu, so that you get clipboard and all that stuff for free (seehttps://superuser.com/questions/734880/hyper-v-clipboard-and-integration-services-in-ubuntu)This package has been tested withUR Sim for Linux 5.9.1.Publishing this package on pypiInstructions adapted from:https://packaging.python.org/tutorials/packaging-projects/Delete generated directories.Make sure to install dependencies:pip install setuptools wheel twineCreate source distributionpython setup.py sdistCreate binary distribtionpython setup.py bdist_wheelUpload package:python -m twine upload dist/*
set user and password according to pypi's api tokenCommon ErrorsFailure to boot from ISO filewith the following error:No operating system was loaded. Your virtual machine may be configured incorrectly. Exit and re-configure...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 PyCharmError: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 1Solution:Clear all run configurations, and create a new one using unittest.