Welcome to PolyScope X’s documentation!

This document will guide users to install the SDK and prerequisites on Windows, Mac and Linux. After installing the SDK it will be possible to develop URCap contributions using any IDE supporting devcontainers.

General

• Getting Started
  • Prerequisite
    • Install the DevContainer extension
      • Opening the SDK in a DevContainer - VSCode
      • Opening the SDK in a DevContainer - IntelliJ
    • Verify you are working in a DevContainer
  • Installing the Simulator
    • Running the simulator
    • Runtime parameters
  • Installing the SDK
  • WSL on Windows
  • Installation Troubleshoot
    • Installing docker in Linux
    • Installing docker in Windows
    • Problems installing WSL on Windows
• PolyScope X SDK user guide
  • Getting started
    • Create URCap contribution using the URCap Contribution Generator
    • URCap contribution samples
    • Build and install a URCap contribution
  • Testing URCap contributions
  • Documentation and help
  • Upgrade URCap from SDK v0.10 to v0.11
• How to guides
  • URCap contribution manifest
    • manifest.yaml
      • Web Contributions
      • Docker Container Contributions
      • ROS2 Contributions
    • Program and Application nodes
      • Note
    • Installing/Uninstalling contributions
      • Building
      • Installing
  • Communicating with the robot controller
    • Controller services
    • Controller ports
    • Communicating with a service
      • manifest.yaml
      • Socket implementation
    • Further reading
  • Creating a container backend Contribution
    • Creating a Dockerfile containing a REST end point
    • Communicating with a docker container contribution
      • Creating the container contribution URL using the contribution API
      • Highlighted use of the getContainerContributionURL in the simple-docker sample
    • Additional Resources
  • Creating a Frontend Contribution
    • Interacting with the API using Angular Components
      • script.node.ts
      • script.behavior.worker.ts
      • script.component.ts
      • script.component.html
      • assets/i18n/en.json
      • app.module.ts
      • angular.json
      • tsconfig.worker.json
    • Interacting with the API using an HTML5 WebComponent
    • Updating Program Nodes
      • gripdistance-program.node.ts v. 1
      • gripdistance-program.node.ts v.2
      • gripdistance-program.behavior.worker.ts
    • Additional Resources
  • Creating a gripper contribution
    • Release 0.9-alpha limitations
    • URCap structure
      • Backend contribution
      • Frontend contribution
    • Gripper sample
      • Backend contribution
      • Frontend contributions
  • How to enable live development of frontend contributions
    • Insert devUrl in manifest.yaml
      • host.gateway.ip
    • Run the Angular application
  • ROS2 - Backend Contribution
    • Creating a ROS2 Backend Contribution
    • Subscribing to Topics and Calling Services
    • Communicating with the Robot through Topics and Services
      • ROS Namespace for the UR Controller
        • Example:
  • ROS2 - Frontend Contribution
    • Accessing the Ros2Client
    • Using the Ros2Client
      • The getTopicPath method
      • The createSubscription method
      • The getServicePath method
      • The callService method
    • Sample code for using the ROS2Client
      • Subscribing to an analog output topic on the Robot using default QoS profile:
      • Subscribing to a string topic using URCap namespace and custom QoS profile:
      • Setting a value of 0.5 on an analog output on the Robot using default QoS profile:
  • UI Design Library
    • Creating HTML layouts using the UI Design Library
  • URCap Contribution Generator
    • Creating a new URCap Contribution
    • Modify the new URCap Contribution
    • Building the new URCap Contribution
    • Testing URCap contributions
    • Only relevant for development environments running on ARM64
  • Working With Units
    • Creating physical quantities and converting units
      • Sample
  • Docker Volume Management
    • Types of Volume Mounts
      • 1. Persistent Volumes
      • 2. tmpfs mounts
      • 3. Removable Storage
    • Risk of Data Loss with Volume Mounts
  • Networking - Macvlan
    • Adding macvlan to URCap
  • Persisting Data
    • Writing files
    • Ensuring written data reaches the disk
    • Synchronized writing examples
      • Python
      • C++
      • Java
  • Serial Device - Hot plug
    • Conceptual Background and device ownership in URCapXs
    • API to URCapX containers / device ownership
    • Device add protocol
    • Device remove protocol
    • Handling of ttyTool
    • Guaranteed and Non-guaranteed behavior
    • URCapX hook JSON format
    • Notes on the format:
  • Smart Skills Contributions
    • Why Smart Skills?
    • What is a Smart Skill?
      • Types of behaviors
    • How to add a Smart Skill to a Front-end Contribution?
      • 1. Add the Folders and Files
      • 2. Add the Behavior
      • 3. Edit the contribution.json file to include the Smart Skill:
      • 4. Add the Smart Skill to the app.module.ts:
      • 5. Add the translations for your new Smart Skill in the en.json:
    • Adding Settings to your Smart Skill
      • Files and Folders
      • The Component
        • 1. Add the parameters
        • 2. Add the logic to the component
        • 3. Add the presenter to the App
  • Docker cheat sheet
    • Q: I want to check if my container is running
      • Shortcut
    • Q: I am not able to see my container
    • Q: Why did my container exit?
      • Shortcut
    • Q: I added my debug statements and want to follow the logs while running
  • CPU architecture and container compatibility
• Resources
  • Typescript API Reference
  • UI library
  • ROS2 Topics and Services
  • UR Interfaces API
  • URScript Manual
  • ROS and Structs Script Manual

Appendix

• Changelog
• License