# NodeContribution does not implement the generateScript() **URL:** \ **Category:** URCap Development\ **Tags:** generate-script\ **Created:** [October 27, 2017, 12:30pm UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280 "2017-10-27T12:30:04Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![anon4621714](https://avatars.discourse-cdn.com/v4/letter/a/8e8cbc/32.png) [@anon4621714](https://forum.universal-robots.com/u/anon4621714)\ **Post date:** [October 27, 2017, 12:30pm UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280/1 "2017-10-27T12:30:04Z")
I modified the HelloWorld Program Contribution as bellow but I have always an Error: **HelloworldProgamNodeContribution is not abstract and does not override abstract method generateScript(ScriptWriter) in ProgramNode Contribution** > package com.ur.urcap.examples.helloworld.impl ; > > // API stuff imported > import com.ur.urcap.api .contribution.ProgramNodeContribution ; > import com.ur.urcap.api.domain.URCapAPI ; > import com.ur.urcap.api.domain.data.DataModel ; > import com.ur.urcap.api.domain.script.ScriptWriter ; > import com.ur.urcap.api.ui.annotation.Input ; > import com.ur.urcap.api.ui.annotation.Label ; > import com.ur.urcap.api.ui.component.InputEvent ; > import com.ur.urcap.api.ui.component.InputTextField ; > import com.ur.urcap.api.ui.component.LabelComponent ; > > // Used for reading from RealTime Client > import java.io.DataOutputStream; > import java.io.IOException; > import java.net.Socket; > > public class HelloWorldProgramNodeContribution implements ProgramNodeContribution { > > ``` > private final URCapAPI urCapAPI; > private final DataModel dataModel; > > ``` > > public HelloWorldProgramNodeContribution(URCapAPI urCapAPI, DataModel dataModel) { > this.urCapAPI = urCapAPI; > this.dataModel = dataModel; > } > // Include the “clientSendScript” class as “scriptSender” > //clientSendScript scriptSender = new clientSendScript(); > > // Just a pose, that is used for moving the robot… > private String myPose = “p[0.0,-0.3,0.1,0,3.1415,0]”; > > public class clientSendScript { > > public clientSendScript() { } > > // localhost IP > private String TCP\_IP = “127.0.0.1”; > // Port for secondary client > private int TCP\_port = 30002; > > // Public method to send MoveJ command to client interface > public void sendMoveJ(String pose){ > sendToSecondary(“movej(”+myPose+“,a=1.57,v=0.5)”); > } > > // Internal method that sends script to client > private void sendToSecondary(String command){ > try{ > // Create a new Socket Client > Socket sc = new Socket(TCP\_IP, TCP\_port); > if (sc.isConnected()){ > System.out.println(“Connected to UR Secondary Client”); > } > > ``` > // Create stream for data > DataOutputStream out; > out = new DataOutputStream(sc.getOutputStream()); > > // Wrap command in "def" and "end" > String thisCommand = "def myCustomCode():\n "+command+"\n end\n"; > > // Send command > out.writeUTF(thisCommand); > System.out.println("Send this: "+thisCommand); > out.flush(); > > // Perform housekeeping > out.close(); > sc.close(); > System.out.println("Disconnected from UR Secondary Client"); > } > catch (IOException e){ > System.out.println(e); > } > > ``` > > } > } > > } thank you in advance ---
**Author:** ![anon36839296](https://avatars.discourse-cdn.com/v4/letter/a/b2d939/32.png) [@anon36839296](https://forum.universal-robots.com/u/anon36839296)\ **Post date:** [May 15, 2020, 8:54am UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280/2 "2020-05-15T08:54:29Z")
> [@anon4621714](#): > > Perform Hi, I follow this code to send movej but I also would like some event for the next step after the robot already moved to the target position successful. could you please give me an advice. ---
**Author:** ![anon77695744](https://avatars.discourse-cdn.com/v4/letter/a/a698b9/32.png) [@anon77695744](https://forum.universal-robots.com/u/anon77695744)\ **Post date:** [May 17, 2020, 12:58am UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280/3 "2020-05-17T00:58:25Z")
It seems as if your NodeContribution does not implement the generateScript() function the ProgramNodeContribution interface demands. Just add the following lines and your error should disappear: ``` @Override public void generateScript(ScriptWriter writer){} ``` The interface needs some more functions to be defined. Probably best if you have a look into one of the example URCaps or the definition of the ProgramNodeContribution interface. ---
**Author:** ![anon48013246](https://avatars.discourse-cdn.com/v4/letter/a/ba8739/32.png) [@anon48013246](https://forum.universal-robots.com/u/anon48013246)\ **Post date:** [July 2, 2020, 10:40am UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280/4 "2020-07-02T10:40:22Z")
Hi, I follow this code and it work very well. but I can see that move respect to base coordination, I wonder how to change it to move the robot respect to Tool coordination. > [@anon4621714](#): > > // Public method to send MoveJ command to client interface > public void sendMoveJ(String pose){ > sendToSecondary(“movej(”+myPose+“,a=1.57,v=0.5)”); > } normally, I move the robot with URscript as below but now I would like to move as the same via URCap **Example code:** global pose\_wrt\_tool = p[0,0,0.1,0,0 , 1.57] global pose\_wrt\_base = pose\_trans(get\_forward\_kin(), pose\_wrt\_tool) movel( pose\_wrt\_base , a=1.2, v=0.25) ``` get_forward_kin() returns current pose. ``` ---
**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\ **Post date:** [January 27, 2021, 12:27am UTC](https://forum.universal-robots.com/t/nodecontribution-does-not-implement-the-generatescript/1280/5 "2021-01-27T00:27:08Z")
Closed on January 27, 2021, 12:27am UTC