dsh-nonead-universal-robots

LIMITATIONS

Known limitations

- **Connection persistence** — the worker process lives for the plugin's lifetime and keeps robot connections by IP; after a worker crash or a DSH restart you must `connect` again. - **Remote control mode** — some UR robots must be in "remote control" before they execute motion/program commands, and `ur_connect` reports that state. **CB3 robots running URSoftware 3.1 through 3.20 already allow remote control by default (nothing to enable at the settings level)**; a `remote_control: false` reading still means the controller is *currently* not in remote mode — in local/teach-pendant mode URScript and motion commands are silently discarded, so switch the pendant to remote control. Other firmware (e-Series, or CB3 outside that range) needs Remote Control enabled in PolyScope first. `ur_status` also reports `remote_control_raw`, and an unreadable state is reported as unknown rather than pretended to be `false`. - **Tool digital I/O** — `ur_get_digital_in` / `ur_set_digital_out` with `which="tool"` control the tool-flange digital I/O. Tool digital signals are **not carried by RTDE**, so reading a tool input runs a short URScript program (via `SendProgram`) that may **interrupt a running program**; writing a tool output sends the URScript `write_tool_digital_out` command. Tool digital **output read-back is not supported** (no reliable `read_tool_digital_out` expression). - **Joint current** — the current RTDE recipe does not expose per-joint current directly, so `ur_get_joint_current` is not provided (the reference implementation's version of this tool has a value bug; this implementation does not carry it over). - **Threading / cancel** — motion commands poll until arrival within `commandTimeoutMs`; for long trajectories, remind the model in the prompt to set a reasonable timeout or split the motion into steps. - **Not a safety boundary** — this plugin is on par with the `bash` tool and can drive physical equipment; test thoroughly on a real robot before production use. - **Package size** — the published package is about **35 MB**, almost entirely the **14 `assets/models/*.glb`** meshes; the plugin's own code adds only a few hundred KB. If size matters for your deployment, regenerate a subset with `python scripts/convert-meshes.py --only <model…>`. - **Unknown models fall back** — a robot whose model has no bundled mesh (unknown or customized model string) is rendered with **approximate geometry instead of failing**; the twin never errors out on an unknown model. - **Asset pipeline** — the meshes are generated by `python scripts/convert-meshes.py` and their structure contract (7 named nodes per GLB, embedded textures) is validated by `python scripts/verify-models.py` (also exposed as `npm run verify:models`). ---