Universal Robots Forum

Uradmin not found in URSim_Linux-5.10.0.106288

As part of our continuous integration and testing of our URCap we load our urcap into a docker image with ursim. To validate that our URCap works we need to enable remote mode.

When I start up ursim 5.10 I get the following exception (doesn’t matter if our urcap is loaded or not) that seem to prevent me from putting the robot in remote mode. It results in two popups, the first one saying “Unable to read state” and the second says “Unable to set remote control”

22:58:40.239 ERROR - Problem getting control mode from URAdmin script {thread: AWT-EventQueue-0 , loggerClass: com.ur.polyscope.security.impl.cybersecurity.service.impl.ControlModeRepositoryImpl}
com.ur.polyscope.security.impl.cybersecurity.service.SecurityException: Exception occurred in URAdmin
at com.ur.polyscope.security.impl.cybersecurity.service.impl.AbstractRepository.getState(AbstractRepository.java:29) ~[polyscope-security-impl-7.6.50.jar:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.ControlModeRepositoryImpl.getState(ControlModeRepositoryImpl.java:17) ~[polyscope-security-impl-7.6.50.jar:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.ControlModeRepositoryImpl.isRemoteControlActive(ControlModeRepositoryImpl.java:35) [polyscope-security-impl-7.6.50.jar:?]
at com.ur.polyscope.safety.remotecontrol.RemoteControlConfiguration.isRemoteControlFilteringEnabled(RemoteControlConfiguration.java:51) [polyscope-internal-remotecontrol-10.10.423.jar:?]
at com.ur.polyscope.safety.remotecontrol.RemoteControlImpl.(RemoteControlImpl.java:52) [polyscope-internal-remotecontrol-10.10.423.jar:?]
at com.ur.polyscope.safety.remotecontrol.RemoteControlImpl$$FastClassByGuice$$89ee47ce.newInstance() [polyscope-internal-remotecontrol-10.10.423.jar:?]
at com.google.inject.internal.DefaultConstructionProxyFactory$FastClassProxy.newInstance(DefaultConstructionProxyFactory.java:89) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.provision(ConstructorInjector.java:111) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.construct(ConstructorInjector.java:90) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorBindingImpl$Factory.get(ConstructorBindingImpl.java:268) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderToInternalFactoryAdapter$1.call(ProviderToInternalFactoryAdapter.java:46) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl.callInContext(InjectorImpl.java:1092) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderToInternalFactoryAdapter.get(ProviderToInternalFactoryAdapter.java:40) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingletonScope$1.get(SingletonScope.java:194) [guice-4.1.0.jar:?]
at com.google.inject.internal.InternalFactoryToProviderAdapter.get(InternalFactoryToProviderAdapter.java:41) [guice-4.1.0.jar:?]
at com.google.inject.internal.FactoryProxy.get(FactoryProxy.java:56) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingleParameterInjector.inject(SingleParameterInjector.java:38) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingleParameterInjector.getAll(SingleParameterInjector.java:62) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.provision(ConstructorInjector.java:110) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.construct(ConstructorInjector.java:90) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorBindingImpl$Factory.get(ConstructorBindingImpl.java:268) [guice-4.1.0.jar:?]
at com.google.inject.internal.FactoryProxy.get(FactoryProxy.java:56) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl$2$1.call(InjectorImpl.java:1019) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl.callInContext(InjectorImpl.java:1092) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl$2.get(InjectorImpl.java:1015) [guice-4.1.0.jar:?]
at com.google.inject.multibindings.Multibinder$RealMultibinder.get(Multibinder.java:375) [guice-4.1.0.jar:?]
at com.google.inject.multibindings.Multibinder$RealMultibinder.get(Multibinder.java:258) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderInternalFactory.provision(ProviderInternalFactory.java:81) [guice-4.1.0.jar:?]
at com.google.inject.internal.InternalFactoryToInitializableAdapter.provision(InternalFactoryToInitializableAdapter.java:53) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderInternalFactory.circularGet(ProviderInternalFactory.java:61) [guice-4.1.0.jar:?]
at com.google.inject.internal.InternalFactoryToInitializableAdapter.get(InternalFactoryToInitializableAdapter.java:45) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingleParameterInjector.inject(SingleParameterInjector.java:38) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingleParameterInjector.getAll(SingleParameterInjector.java:62) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.provision(ConstructorInjector.java:110) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorInjector.construct(ConstructorInjector.java:90) [guice-4.1.0.jar:?]
at com.google.inject.internal.ConstructorBindingImpl$Factory.get(ConstructorBindingImpl.java:268) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderToInternalFactoryAdapter$1.call(ProviderToInternalFactoryAdapter.java:46) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl.callInContext(InjectorImpl.java:1092) [guice-4.1.0.jar:?]
at com.google.inject.internal.ProviderToInternalFactoryAdapter.get(ProviderToInternalFactoryAdapter.java:40) [guice-4.1.0.jar:?]
at com.google.inject.internal.SingletonScope$1.get(SingletonScope.java:194) [guice-4.1.0.jar:?]
at com.google.inject.internal.InternalFactoryToProviderAdapter.get(InternalFactoryToProviderAdapter.java:41) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl$2$1.call(InjectorImpl.java:1019) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl.callInContext(InjectorImpl.java:1085) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl$2.get(InjectorImpl.java:1015) [guice-4.1.0.jar:?]
at com.google.inject.internal.InjectorImpl.getInstance(InjectorImpl.java:1054) [guice-4.1.0.jar:?]
at com.ur.injection.GuiceBuilder.get(GuiceBuilder.java:30) [polyscope-lang-3.6.15.jar:?]
at com.ur.polyscope.dashboardserver.impl.ServiceBinderImpl.load(ServiceBinderImpl.java:29) [polyscope-dashboard-server-impl-1.12.5.jar:?]
at gui.main.URGUI$6.run(URGUI.java:404) [polyscope-internal-view-10.10.423.jar:?]
at gui.main.URGUI$BlockingTaskRunner$1.call(URGUI.java:539) [polyscope-internal-view-10.10.423.jar:?]
at gui.main.URGUI$BlockingTaskRunner$1.call(URGUI.java:1) [polyscope-internal-view-10.10.423.jar:?]
at java.util.concurrent.FutureTask.run(FutureTask.java:266) [?:1.8.0_282]
at java.awt.event.InvocationEvent.dispatch(InvocationEvent.java:301) [?:1.8.0_282]
at java.awt.EventQueue.dispatchEventImpl(EventQueue.java:758) [?:1.8.0_282]
at java.awt.EventQueue.access$500(EventQueue.java:97) [?:1.8.0_282]
at java.awt.EventQueue$3.run(EventQueue.java:709) [?:1.8.0_282]
at java.awt.EventQueue$3.run(EventQueue.java:703) [?:1.8.0_282]
at java.security.AccessController.doPrivileged(Native Method) ~[?:1.8.0_282]
at java.security.ProtectionDomain$JavaSecurityAccessImpl.doIntersectionPrivilege(ProtectionDomain.java:74) [?:1.8.0_282]
at java.awt.EventQueue.dispatchEvent(EventQueue.java:728) [?:1.8.0_282]
at java.awt.EventDispatchThread.pumpOneEventForFilters(EventDispatchThread.java:205) [?:1.8.0_282]
at java.awt.EventDispatchThread.pumpEventsForFilter(EventDispatchThread.java:116) [?:1.8.0_282]
at java.awt.EventDispatchThread.pumpEventsForHierarchy(EventDispatchThread.java:105) [?:1.8.0_282]
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:101) [?:1.8.0_282]
at java.awt.EventDispatchThread.pumpEvents(EventDispatchThread.java:93) [?:1.8.0_282]
at java.awt.EventDispatchThread.run(EventDispatchThread.java:82) [?:1.8.0_282]
Caused by: com.ur.polyscope.security.impl.cybersecurity.service.URAdminException: java.io.IOException: Cannot run program “uradmin”: error=2, No such file or directory
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.start(CommandInvoker.java:103) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:51) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:32) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.invokeCommand(SecurityServiceImpl.java:29) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.getState(SecurityServiceImpl.java:34) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.AbstractRepository.getState(AbstractRepository.java:27) ~[?:?]
… 64 more
Caused by: java.io.IOException: Cannot run program “uradmin”: error=2, No such file or directory
at java.lang.ProcessBuilder.start(ProcessBuilder.java:1048) ~[?:1.8.0_282]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.start(CommandInvoker.java:97) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:51) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:32) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.invokeCommand(SecurityServiceImpl.java:29) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.getState(SecurityServiceImpl.java:34) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.AbstractRepository.getState(AbstractRepository.java:27) ~[?:?]
… 64 more
Caused by: java.io.IOException: error=2, No such file or directory
at java.lang.UNIXProcess.forkAndExec(Native Method) ~[?:1.8.0_282]
at java.lang.UNIXProcess.(UNIXProcess.java:247) ~[?:1.8.0_282]
at java.lang.ProcessImpl.start(ProcessImpl.java:134) ~[?:1.8.0_282]
at java.lang.ProcessBuilder.start(ProcessBuilder.java:1029) ~[?:1.8.0_282]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.start(CommandInvoker.java:97) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:51) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.CommandInvoker.invokeURAdmin(CommandInvoker.java:32) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.invokeCommand(SecurityServiceImpl.java:29) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.SecurityServiceImpl.getState(SecurityServiceImpl.java:34) ~[?:?]
at com.ur.polyscope.security.impl.cybersecurity.service.impl.AbstractRepository.getState(AbstractRepository.java:27) ~[?:?]

Found them in the usr/bin folder in the ursim home directory.

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