How to develop the corresponding URCapX for PloyScope X

Technical Questions
1

I encountered a very troublesome problem when developing URCap X in Ploy Scope X. Whenever I add multiple nodes, Ploy Scope X always prompts me with an error. I would be extremely grateful if I could get some help.

1c89c4e24ee0e5b67933257e6a506a8
1c89c4e24ee0e5b67933257e6a506a8638×412 35.9 KB

2

Hi Joe
My best guess is that you are not calling the registerProgramBehavior function in you behavior worker. A minimal ProgramBehavior should look like this:

/// <reference lib="webworker" />
import {
    ProgramBehaviors,
    ProgramNode, registerProgramBehavior
} from '@universal-robots/contribution-api';

const behaviors: ProgramBehaviors<ProgramNode> = {
    factory: (): ProgramNode => {
        return {
            type: 'my-node',
            version: '0.0.1',
            parameters: {
            },
        };
    },
    programNodeLabel(node: ProgramNode) {
        return 'my-node-label'
    },
};

registerProgramBehavior(behaviors);

It is the last line, that you most likely have forgotten.

3

Thank you very much for your reply, which helped me solve the problem very well. In addition, I want to know if it is possible to display the Angle of RPY in PloyScope X, so far I only found the rotation.