I am new to the URScript, but I am trying to communicate with the robot in real-time.
From what I have seen the URCap is nicely developed, with the ability to use python libraries such as urx, that allows for easy and effective robot control.
As a newbie in the field, I would like to know if there is a way in which I can take the urx library and transform it into URScript to run it in real-time.
Thank you for your help
I am not really familiar with the urx project. To my knowledge it is currently not possible. You have the option to write a python daemon that can assist you URScript with the functionality you are missing there.
Thank you for reply,
Could you explain the general concept of daemon and how it can be used?
The daemon is a process running parallel with URControl. You can take a look at the samples where the daemon is written in both Python and c++, they are then running native on the robot.
Python coding is easier than C++ coding.
Would you tell me which kind of case it is recommend to code by C++ in?.
When I created the sample urcap for getting IK, I have coded by c++. The reason is I thought that speed for calculating is faster than python.
If you have some functionality already written in c++ that you need in your daemon, or if you are doing heavy calculations and is concerned about the performance I would go for the c++ daemon.