URCap SDK (But I Dockerized it)

phye · December 16, 2022, 11:47pm

Hey URCap Dev community,
I put the SDK on Docker, and linked it to the URSim that’s on Docker so that it’s easier to develop and deploy URCaps. Please let me know if you have feedback and such. Hopefully, this is easier to use than the VM image. Link to the repo that contains the repo, and instructions, are here. Cheers!

danielwu · January 2, 2023, 3:43am

Hello Sir,

I install git/docker desktop/visual studio code, I did setup according to your instruction.

I tried to new URCap, it shows build fails as follow

Daniel Wu
2-JAN-2023

danielwu · January 2, 2023, 7:42am

Hello Sir,
it shows git not found when run in VSC as following, maybe I have to do some settings about git.path, but I don’t know how to do it.

Daniel Wu
2-JAN-2023

phye · January 3, 2023, 8:16pm

Hello Daniel,

Thank you for your question. The issue with git path on VSCode should not affect anything. I do have a question – can you check what the line ending setting is when you have the newURCap.sh shell script opened in VSCode? I’ve attached a screenshot for clarification.

danielwu · January 4, 2023, 12:49am

Hi Phye,
Yes, you’re correct, it has no effect until now.

Great news to you! I managed to run newURCap.sh in VSCode after I did this to open SDK in VSCode.

So great thanks to your new SDK update! It works for me!

Best regards
Daniel Wu

cags · March 1, 2023, 3:44pm

Hello there,

I downloaded your docker image and also tried to work. Some results:

I got the same error as @danielwu at first, and then re-trying it within the docker container, same as pictured here, did the trick and now it runs fine the newURCap.sh

I have tried to compile some of the samples URCaps, some insights:

Most of them are shown as “modified”, even tho I haven’t.
userinput build was successful, but I haven’t tried to install it on the controller or anything yet.
helloworldswing showed a very long log with errors and some build success. I’m confused: was it ok or not?

Some note: the successful build came out as .jar, tag.gz and .urcap, are you aiming to change to .urcapX for the next Polyscope verison 6?

cags · March 1, 2023, 3:45pm

userinput log:

root@43d52acb9baa:/workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput# mvn install
[INFO] Scanning for projects...
[INFO] 
[INFO] ------------------< com.ur.urcap.examples:userinput >-------------------
[INFO] Building User Input 1.0-SNAPSHOT
[INFO] -------------------------------[ bundle ]-------------------------------
[INFO] 
[INFO] --- maven-resources-plugin:3.0.2:resources (default-resources) @ userinput ---
[WARNING] Using platform encoding (ANSI_X3.4-1968 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] Copying 1 resource
[INFO] 
[INFO] --- maven-compiler-plugin:3.6.0:compile (default-compile) @ userinput ---
[INFO] Changes detected - recompiling the module!
[WARNING] File encoding has not been set, using platform encoding ANSI_X3.4-1968, i.e. build is platform dependent!
[INFO] Compiling 8 source files to /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/target/classes
[INFO] 
[INFO] --- maven-bundle-plugin:2.4.0:manifest (bundle-manifest) @ userinput ---
[INFO] 
[INFO] --- maven-resources-plugin:3.0.2:testResources (default-testResources) @ userinput ---
[WARNING] Using platform encoding (ANSI_X3.4-1968 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] skip non existing resourceDirectory /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/src/test/resources
[INFO] 
[INFO] --- maven-compiler-plugin:3.6.0:testCompile (default-testCompile) @ userinput ---
[INFO] No sources to compile
[INFO] 
[INFO] --- maven-surefire-plugin:2.22.1:test (default-test) @ userinput ---
[INFO] 
[INFO] --- maven-bundle-plugin:2.4.0:bundle (default-bundle) @ userinput ---
[INFO] 
[INFO] --- exec-maven-plugin:1.1:exec (package-urcap) @ userinput ---
[INFO] 
[INFO] --- maven-assembly-plugin:2.2-beta-5:single (default) @ userinput ---
[INFO] Reading assembly descriptor: assembly.xml
[INFO] Building tar : /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/target/userinput-1.0-SNAPSHOT-sources.tar.gz
[INFO] 
[INFO] --- maven-install-plugin:2.5.2:install (default-install) @ userinput ---
[INFO] Installing /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/target/userinput-1.0-SNAPSHOT.jar to /root/.m2/repository/com/ur/urcap/examples/userinput/1.0-SNAPSHOT/userinput-1.0-SNAPSHOT.jar
[INFO] Installing /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/pom.xml to /root/.m2/repository/com/ur/urcap/examples/userinput/1.0-SNAPSHOT/userinput-1.0-SNAPSHOT.pom
[INFO] Installing /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.userinput/target/userinput-1.0-SNAPSHOT-sources.tar.gz to /root/.m2/repository/com/ur/urcap/examples/userinput/1.0-SNAPSHOT/userinput-1.0-SNAPSHOT-sources.tar.gz
[INFO] 
[INFO] --- maven-bundle-plugin:2.4.0:install (default-install) @ userinput ---
[INFO] Installing com/ur/urcap/examples/userinput/1.0-SNAPSHOT/userinput-1.0-SNAPSHOT.jar
[INFO] Writing OBR metadata
[INFO] ------------------------------------------------------------------------
[INFO] BUILD SUCCESS
[INFO] ------------------------------------------------------------------------
[INFO] Total time:  2.829 s
[INFO] Finished at: 2023-03-01T16:23:55+01:00
[INFO] ------------------------------------------------------------------------

cags · March 1, 2023, 3:46pm

helloworldswing output (part1):

cd samples/swing/com.ur.urcap.examples.helloworldswing/
root@43d52acb9baa:/workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing# mvn install
[INFO] Scanning for projects...
[INFO] 
[INFO] ---------------< com.ur.urcap.examples:helloworldswing >----------------
[INFO] Building Hello World Swing 1.0-SNAPSHOT
[INFO] -------------------------------[ bundle ]-------------------------------
Downloading from central: https://repo.maven.apache.org/maven2/org/apache/maven/plugins/maven-surefire-plugin/2.22.1/maven-surefire-plugin-2.22.1.pom
Downloaded from central: https://repo.maven.apache.org/maven2/org/apache/maven/plugins/maven-surefire-plugin/2.22.1/maven-surefire-plugin-2.22.1.pom (5.0 kB at 15 kB/s)
Downloading from central: https://repo.maven.apache.org/maven2/org/apache/maven/surefire/surefire/2.22.1/surefire-2.22.1.pom
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[INFO] 
[INFO] --- maven-resources-plugin:3.0.2:resources (default-resources) @ helloworldswing ---
[WARNING] Using platform encoding (ANSI_X3.4-1968 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] Copying 1 resource
[INFO] 
[INFO] --- maven-compiler-plugin:3.6.0:compile (default-compile) @ helloworldswing ---
[INFO] Changes detected - recompiling the module!
[WARNING] File encoding has not been set, using platform encoding ANSI_X3.4-1968, i.e. build is platform dependent!
[INFO] Compiling 10 source files to /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/target/classes
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,34] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,35] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,36] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,37] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,38] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,39] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,40] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,41] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,42] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,43] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,44] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,45] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,47] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,48] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,49] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,50] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,51] unmappable character for encoding ASCII
[ERROR] /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/main/java/com/ur/urcap/examples/helloworldswing/impl/HelloWorldProgramNodeService.java:[29,52] unmappable character for encoding ASCII
[INFO] 
[INFO] --- maven-bundle-plugin:2.4.0:manifest (bundle-manifest) @ helloworldswing ---
[INFO] 
[INFO] --- maven-resources-plugin:3.0.2:testResources (default-testResources) @ helloworldswing ---
[WARNING] Using platform encoding (ANSI_X3.4-1968 actually) to copy filtered resources, i.e. build is platform dependent!
[INFO] skip non existing resourceDirectory /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.helloworldswing/src/test/resources
[INFO] 
[INFO] --- maven-compiler-plugin:3.6.0:testCompile (default-testCompile) @ helloworldswing ---
[INFO] No sources to compile
[INFO] 
[INFO] --- maven-surefire-plugin:2.22.1:test (default-test) @ helloworldswing ---
Downloading from central: https://repo.maven.apache.org/maven2/org/apache/maven/surefire/maven-surefire-common/2.22.1/maven-surefire-common-2.22.1.pom
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eric.feldmann · March 1, 2023, 4:19pm

@cags, I had a couple of those “unmappable character” errors too. It ended up being some weird character that I had put in a comment. It apparently existed in whatever encoding Linux was using on the old VM, but not here. For example, the little 2 in H₂0 was used somewhere else and it got mad about that too. Good news is it tells you it’s occurring on line 29, column 34-52 it looks like. So maybe take a peek there and see if you can see any potentially strange characters

cags · March 3, 2023, 9:41am

I got it to compile on the 2nd and 3rd try (I didn’t change anything, so I guess magic of Java? ¯_(ツ)_/¯)
Then I went onto mydaemonswing sample, which has been reported in other posts in this forum (like here or here) as a little bit problematic. And yeah, that one got an error. I have cut off some of the 2nd log because it is very long.

$ .../urcap.examples.mydaemonswing# mvn install

[INFO] Scanning for projects...

[INFO] 

[INFO] ----------------< com.ur.urcap.examples:mydaemonswing >-----------------

[INFO] Building My Daemon Swing 1.0-SNAPSHOT

[INFO] -------------------------------[ bundle ]-------------------------------

[INFO] 

[INFO] --- maven-resources-plugin:3.0.2:resources (default-resources) @ mydaemonswing ---

[WARNING] Using platform encoding (ANSI_X3.4-1968 actually) to copy filtered resources, i.e. build is platform dependent!

[INFO] Copying 2 resources

[INFO] 

[INFO] --- maven-compiler-plugin:3.6.0:compile (default-compile) @ mydaemonswing ---

[INFO] Nothing to compile - all classes are up to date

[INFO] 

[INFO] --- exec-maven-plugin:1.1:exec (compile-daemon) @ mydaemonswing ---

[INFO] /bin/sh: 1: scons: not found

[INFO] ------------------------------------------------------------------------

[INFO] BUILD FAILURE

[INFO] ------------------------------------------------------------------------

[INFO] Total time:  1.757 s

[INFO] Finished at: 2023-03-03T10:34:57+01:00

[INFO] ------------------------------------------------------------------------

[ERROR] Failed to execute goal org.codehaus.mojo:exec-maven-plugin:1.1:exec (compile-daemon) on project mydaemonswing: Result of /bin/sh -c cd /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.mydaemonswing/daemon && scons release=1 execution is: '127'. -> [Help 1]

[ERROR] 

[ERROR] To see the full stack trace of the errors, re-run Maven with the -e switch.

[ERROR] Re-run Maven using the -X switch to enable full debug logging.

[ERROR] 

[ERROR] For more information about the errors and possible solutions, please read the following articles:

[ERROR] [Help 1] http://cwiki.apache.org/confluence/display/MAVEN/MojoExecutionException

$ .../urcap.examples.mydaemonswing# mvn -e -X install

# omiting some of the log



[INFO] /bin/sh: 1: scons: not found

[INFO] ------------------------------------------------------------------------

[INFO] BUILD FAILURE

[INFO] ------------------------------------------------------------------------

[INFO] Total time:  1.426 s

[INFO] Finished at: 2023-03-03T10:36:41+01:00

[INFO] ------------------------------------------------------------------------

[ERROR] Failed to execute goal org.codehaus.mojo:exec-maven-plugin:1.1:exec (compile-daemon) on project mydaemonswing: Result of /bin/sh -c cd /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.mydaemonswing/daemon && scons release=1 execution is: '127'. -> [Help 1]

org.apache.maven.lifecycle.LifecycleExecutionException: Failed to execute goal org.codehaus.mojo:exec-maven-plugin:1.1:exec (compile-daemon) on project mydaemonswing: Result of /bin/sh -c cd /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.mydaemonswing/daemon && scons release=1 execution is: '127'.

    at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:215)

    at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:156)

    at org.apache.maven.lifecycle.internal.MojoExecutor.execute (MojoExecutor.java:148)

    at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject (LifecycleModuleBuilder.java:117)

    at org.apache.maven.lifecycle.internal.LifecycleModuleBuilder.buildProject (LifecycleModuleBuilder.java:81)

    at org.apache.maven.lifecycle.internal.builder.singlethreaded.SingleThreadedBuilder.build (SingleThreadedBuilder.java:56)

    at org.apache.maven.lifecycle.internal.LifecycleStarter.execute (LifecycleStarter.java:128)

    at org.apache.maven.DefaultMaven.doExecute (DefaultMaven.java:305)

    at org.apache.maven.DefaultMaven.doExecute (DefaultMaven.java:192)

    at org.apache.maven.DefaultMaven.execute (DefaultMaven.java:105)

    at org.apache.maven.cli.MavenCli.execute (MavenCli.java:956)

    at org.apache.maven.cli.MavenCli.doMain (MavenCli.java:288)

    at org.apache.maven.cli.MavenCli.main (MavenCli.java:192)

    at sun.reflect.NativeMethodAccessorImpl.invoke0 (Native Method)

    at sun.reflect.NativeMethodAccessorImpl.invoke (NativeMethodAccessorImpl.java:62)

    at sun.reflect.DelegatingMethodAccessorImpl.invoke (DelegatingMethodAccessorImpl.java:43)

    at java.lang.reflect.Method.invoke (Method.java:498)

    at org.codehaus.plexus.classworlds.launcher.Launcher.launchEnhanced (Launcher.java:289)

    at org.codehaus.plexus.classworlds.launcher.Launcher.launch (Launcher.java:229)

    at org.codehaus.plexus.classworlds.launcher.Launcher.mainWithExitCode (Launcher.java:415)

    at org.codehaus.plexus.classworlds.launcher.Launcher.main (Launcher.java:356)

Caused by: org.apache.maven.plugin.MojoExecutionException: Result of /bin/sh -c cd /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.mydaemonswing/daemon && scons release=1 execution is: '127'.

# ...

Caused by: org.apache.maven.plugin.MojoExecutionException: Result of /bin/sh -c cd /workspaces/universal_robots_sdk/samples/swing/com.ur.urcap.examples.mydaemonswing/daemon && scons release=1 execution is: '127'.

# ...

[ERROR] 
[ERROR] 
[ERROR] For more information about the errors and possible solutions, please read the following articles:
[ERROR] [Help 1] http://cwiki.apache.org/confluence/display/MAVEN/MojoExecutionException

How to walk around this? Since this is all in a Docker, could the changes to make it compile be implemented and updated on the Docker image?

roguebuck · March 5, 2023, 10:36pm

This is awesome! thanks for putting this together!

I tried setting this up per the readme. The ursim seems to start and run but polyscope shows “no controller” and the terminal shows “URControl: No process Found”

root@b60ac1b00885:/workspaces/universal_robots_sdk# ./startURSim.sh 
URControl: no process found
Checking Robot Root Certificate
/ursim/GUI /ursim /ursim
runsv /etc/service/runsvdir-ursim-5.13.0.113898/: fatal: unable to lock supervise/lock: temporary failure
rm: cannot remove '/ursim/service': No such file or directory
Universal Robots simulator for e-Series:5.13.0


IP address of the simulator

     172.17.0.2


Access the robots user interface through this URL:

     http://172.17.0.2:6080/vnc.html?host=172.17.0.2&port=6080


Access the robots user interface with a VNC application on this address:

     172.17.0.2:5900


You can find documentation on how to use this container on dockerhub:

     https://hub.docker.com/r/universalrobots/ursim_e-series


Press Crtl-C to exit


Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/aopalliance-1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/awtextra-1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/balloontip-1.2.4.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/bcpkix-jdk15on-1.62.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/bcprov-jdk15on-1.62.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/boot-g5-74.11.1642.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/cglib-nodep-2.2.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-beanutils-1.8.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-codec-1.9.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-collections-3.2.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-httpclient-3.1.0.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-io-2.4.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-lang-2.6.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-lang3-3.3.2.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-logging-1.2.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/commons-math3-3.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/constants-19.8.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/conveyortracking-1.8.12.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/core-2.3.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/cssparser-0.9.14.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/ethernetip-1.6.6.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/failureaccess-1.0.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/featureset-1.1.4.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/filters-2.0.235.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/freehep-java3d-2.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/geom-feature-urcap-api-export-1.14.31.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/gripper-urcap-api-export-1.8.57.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/gson-2.8.5.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/guava-19.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/guice-4.1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/guice-multibindings-4.1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/httpclient-osgi-4.5.13.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/httpcore-osgi-4.4.15.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/j3d-core-1.5.2-modified.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/j3d-core-utils-1.5.2-modified.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jackson-annotations-2.13.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jackson-core-2.13.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jackson-databind-2.13.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/javahelp-2.0.05.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/javax.inject-1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jemmy-3.2.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jgoodies-common-1.7.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jgoodies-forms-1.7.2.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/json-20180813.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jsoup-1.7.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/jsr305-3.0.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/log4j-api-2.17.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/log4j-core-2.17.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.apache.felix.fileinstall-3.5.0-modified-2.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.apache.felix.shell-1.4.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.apache.felix.shell.remote-1.2.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.apache.servicemix.bundles.aspectj-1.9.9_1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.osgi.core-4.1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/org.osgi.service.cm-1.5.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/osgi.core-6.0.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-application-api-1.17.23.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-application-driver-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-concept-operations-api-7.10.20.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-concept-operations-driver-7.10.20.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-concept-operations-impl-7.10.20.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-controllerinterface-api-4.11.29.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-controllerinterface-impl-4.11.29.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-core-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-dashboard-server-api-1.16.18.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-dashboard-server-impl-1.16.18.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-driver-api-3.17.15.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-file-manager-api-5.10.29.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-file-manager-driver-5.10.29.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-file-manager-impl-5.10.29.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-flight-recorder-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-flight-recorder-impl-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-freedrive-api-1.7.37.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-freedrive-driver-1.7.37.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-freedrive-impl-1.7.37.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-geom-feature-api-1.14.31.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-geom-feature-driver-1.14.31.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-geom-feature-impl-1.14.31.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-gripper-driver-1.8.57.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-gripper-impl-1.8.57.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-initializerobot-api-4.10.16.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-initializerobot-driver-4.10.16.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-initializerobot-impl-4.10.16.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-installation-api-6.10.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-installation-driver-6.10.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-installation-impl-6.10.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-installation-urcap-api-6.10.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-calibration-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-defaultprogram-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-driver-g5-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-g5-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-immi-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-initializerobot-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-installation-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-io-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-move-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-pallet-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-pin-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-program-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-remotecontrol-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-safety-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-tcp-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-urcap-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-view-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-internal-viewfacade-10.14.402.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-io-api-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-io-impl-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-java-logger-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-java-logger-impl-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-lang-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-license-api-2.10.34.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-license-driver-2.10.34.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-license-impl-2.10.34.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-logging-api-7.10.32.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-logging-driver-7.10.32.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-logging-impl-7.10.32.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-monitor-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-move-api-1.12.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-move-driver-1.12.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-move-impl-1.12.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-pallet-api-1.5.47.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-pallet-common-1.5.47.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-pallet-impl-1.5.47.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-payload-api-1.5.52.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-payload-driver-1.5.52.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-payload-impl-1.5.52.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-payload-urcap-api-1.5.52.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-persistence-api-1.13.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-persistence-impl-1.13.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-platform-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-profinet-api-1.5.24.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-profinet-impl-1.5.24.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-program-api-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-program-impl-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-program-metrics-impl-3.10.16.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-robot-configuration-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-robot-configuration-impl-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-safety-api-1.7.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-safety-driver-1.7.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-safety-impl-1.7.17.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-screenshot-builder-api-2.12.22.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-screwdriving-driver-3.8.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-screwdriving-impl-3.8.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-scriptwriter-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-security-api-7.10.39.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-security-driver-7.10.39.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-security-impl-7.10.39.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-settings-api-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-settings-impl-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-simulation-api-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-simulation-impl-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-swing-5.28.26.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-system-api-6.9.43.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-system-diagnostics-impl-6.9.43.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-system-driver-6.9.43.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-system-impl-6.9.43.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-tcp-api-1.11.25.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-tcp-driver-1.11.25.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-tcp-impl-1.11.25.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-tcp-urcap-api-1.11.25.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-toolbar-impl-7.9.18.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-urcap-api-13.10.85.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-urcap-driver-13.10.85.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-urcap-impl-13.10.85.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-urcap-urcap-api-13.10.85.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-value-objects-api-1.17.23.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-value-objects-impl-1.17.23.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-value-objects-urcap-api-1.17.23.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-version-api-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-version-impl-1.2.88.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-visualizer-api-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/polyscope-visualizer-impl-1.0.50.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/reactive-streams-1.0.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/rxjava-2.1.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/sac-1.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/screwdriving-urcap-api-export-3.8.35.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/snakeyaml-1.30.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/swing-layout-1.0.3.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/swing-worker-1.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/swingx-1.6.1.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/urcap-api-export-7.9.18.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/urcap-api-export-robotmovement-13.10.85.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/urscript2pojo-1.6.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/validation-api-1.1.0.Final.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/vecmath-1.5.2-modified.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/ws-commons-util-1.0.2.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/xmlrpc-client-3.1.3.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/xmlrpc-common-3.1.3.0.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/xpp3_min-1.1.4c.jar
Adding 'reference:' to bundle uri : file:/ursim/GUI/bundle/xstream-1.3.1.jar
Identifying Split Packages
Split package detected!
  com.ur.urcap.api.domain.value; version=1.9.0
  com.ur.polyscope.valueobjects.polyscope-value-objects-urcap-api [167] com.ur.polyscope.valueobjects.polyscope-value-objects-urcap-api
  com.ur.polyscope.urcaps.polyscope-urcap-urcap-api [164] com.ur.polyscope.urcaps.polyscope-urcap-urcap-api
2023-03-05 23:32:35.874 WARN  - Method used before correct value has been received from controller, returning default = joint_max_speed {thread: Thread-5 , loggerClass: com.ur.polyscope.robot.configuration.joint.JointConfigurationSettings}
2023-03-05 23:32:35.879 WARN  - Ignoring any future reports of error {thread: Thread-5 , loggerClass: com.ur.polyscope.robot.configuration.joint.JointConfigurationSettings}
Mar 05, 2023 11:32:36 PM com.steadystate.css.parser.CSSOMParser <init>
WARNING: java.lang.ClassNotFoundException: com.steadystate.css.parser.SACParserCSS21 not found by org.w3c.css.sac [174]
Mar 05, 2023 11:32:36 PM com.steadystate.css.parser.CSSOMParser <init>
WARNING: using the default 'SACParserCSS21' instead
URControl: no process found

Did I miss something?

roguebuck · March 9, 2023, 12:04am

“i didnt change anything” and it started working…

but…The vnc crashes at any polyscope exception for me, anyone else?

eric.feldmann · March 10, 2023, 1:16pm

Yes. More specifically, it crashes when you click the little dropdown to see more about the exception. If you read it out of the terminal instead of clicking that, you might be ok. This Docker thing is definitely pretty janky seeming. Mine always loads 2 instances of itself when I launch it, and sometimes it’s just hit or miss as to whether it will load successfully.

roguebuck · March 10, 2023, 11:46pm

ah, ok. thats exactly what was happening. I was naturally clicking the dropdown immediately but didnt recognize the association.

max.dhom · March 17, 2023, 1:34pm

I’ve got the same issue here. Any help on how to get it work?

roguebuck · March 17, 2023, 6:43pm

no wisdom to share. where are you stuck? just seeing the polyscope GUI?

I had to refresh the page a few times. My coworker said firefox wasnt working for them; im using brave browser and still sometimes the polyscope gui doesnt come up and i have to refresh the page.

sam.verity-hilton · March 21, 2023, 8:37am

I had the same issue with firefox, I never had any issues accessing the UI through Chrome though, but I also primarily use VNC viewer to view polyscope and that never had any issues either

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