Generating a program in URSim, and moving to the robot is straight forward.
The files generated by a program are:
- .urp: Contains the program including “meta data”, and which is loadable from PolyScope to generate the graphical view. The file is compressed XML - but an uncompressed XML file with a .urp extension can also be loaded in PolyScope. The XML is fairly human readable, and might be programmatically altered, however the syntax is not documented and hence this is not very straight forward.
- .script: The generated script code from the program, including contributions from the Installation. This equivalent to the script code, that is sent to URControl for execution using Primary Client Interface. You could eventually grab this code, programatically alter it (straight forward, as this is documented in the URScript manual), and send this to the a client interface for execution. However altering the script file will not change the .urp, and if you save the .urp again, the .script will normally be overwritten.
- .txt: The PolyScope program tree in plain text, just for documentation purpose.
In order to run in PolyScope, you would also need the two contributions from the Installation.
- .installation: Contains the settings from the installation, including TCP and payload setup, Modbus signals, safety configuration, Features and settings from URCaps Installation nodes.
- .variables: Contains Installation variables and their value.
When you have generated the program in URSim, copy the .urp, .installation and .variables (if there is one) to the robot, and load the program.
This might prompt you that the active installation is not the same as the one your program requires (hence read from the program metadata) and you would need to load that installation, or alternatively set the program to run with another installation file.
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