initial import

robot_live_tests/robot_connection_live_tests.py

+import logging
+import math
+import time
+import unittest
+import numpy as np
+
+from urinterface.robot_connection import RobotConnection
+
+
+class RobotLiveTests(unittest.TestCase):
+
+    def test_start_stop_recording_ur5e(self):
+        ur5e = RobotConnection("192.168.12.245")  # UR5e Robot @ DeepTech
+        ur5e.start_recording(filename=f'randomMotion.csv')
+        ur5e.stop_recording()
+
+    def test_movej(self):
+        # ur5e = RobotConnection("192.168.56.101") # VirtualBox
+        ur5e = RobotConnection("192.168.12.245")  # Robot @ DeepTech
+        q0 = np.array([-2.*math.pi, 0., -2.7925, -.5*math.pi, 0., 0.])
+        q1 = np.array([2.*math.pi, 0., -2.7925, -.5*math.pi, 0., 0.])
+        acc = 20.0
+        v_abs_array = np.linspace(0.2, 3.2, 20)
+
+        ur5e.movej(q=q1)  # move to start
+        i = 1
+        for v_abs in v_abs_array:
+            # record negative velocity
+            ur5e.start_recording(filename=f'velTest3_{i}_v=-{v_abs:.4f}.csv')
+            time.sleep(1.5)  # wait for thread to start recording
+            ur5e.movej(q=q0, v=v_abs, a=acc)
+            time.sleep(1.5)  # wait for thread to start recording
+            ur5e.stop_recording()
+
+            # record positive velocity
+            ur5e.start_recording(filename=f'velTest3_{i}_v={v_abs:.4f}.csv')
+            time.sleep(1.5)
+            ur5e.movej(q=q1, v=v_abs, a=acc)
+            time.sleep(1.5)
+            ur5e.stop_recording()
+
+            i += 1
+
+        # Analyze data
+        # 1. open file
+        # 2. take a subset of data (the data with constant-velocity)
+        # 3. average current of subset of data
+        # 4. generate friction model
+
+
+    def test_debug_first_startrecord_only(self):
+        """
+        THis test shows the importantance of reverting the global state of the RobotConnection.
+        """
+
+        # logging.basicConfig(level=logging.DEBUG, filename="test_debug_first_startrecord_only.log")  # enables logging
+
+        ur5e = RobotConnection("192.168.56.101")
+        q0 = np.array([-2. * math.pi, 0., 0., -.5 * math.pi, 0., 0.])
+        q1 = np.array([2. * math.pi, 0., 0., -.5 * math.pi, 0., 0.])
+        v_abs = 1.0
+
+        ur5e.movej(q=q1)  # move to start
+
+        # record negative velocity
+        ur5e.start_recording(filename=f'velTest2_v=-{v_abs:.5f}.csv')
+        time.sleep(1.0)  # wait for thread to start recording
+        ur5e.movej(q=q0, v=v_abs)
+        time.sleep(1.0)  # wait for thread to start recording
+        ur5e.stop_recording()
+
+        # record positive velocity
+        ur5e.start_recording(filename=f'velTest2_v={v_abs:.5f}.csv')
+        time.sleep(1.0)
+        ur5e.movej(q=q1, v=v_abs)
+        time.sleep(1.0)
+        ur5e.stop_recording()
+
+        # Analyze data
+        # 1. open file
+        # 2. take a subset of data (the data with constant-velocity)
+        # 3. average current of subset of data
+        # 4. generate friction model
+
+    def test_real_record(self):
+        ur5e = RobotConnection("192.168.56.101")
+        ur5e.record_samples(config_file="resources/record_configuration.xml", frequency=100, samples=10)
+
+
+
+
+if __name__ == '__main__':
+    unittest.main()

setup.py

+#!/usr/bin/env python3
+
+from pathlib import Path
+
+import setuptools
+
+project_dir = Path(__file__).parent
+
+setuptools.setup(
+    name="urinterface",
+    version="0.0.1",
+    description="UR Robot Interface",
+    # Allow UTF-8 characters in README with encoding argument.
+    long_description=project_dir.joinpath("README.md").read_text(encoding="utf-8"),
+    long_description_content_type="text/markdown",
+    keywords=["python", "ur robot", "universal robot"],
+    author="Claudio Gomes and Emil Madsen",
+    author_email="claudio.gomes@eng.au.dk",
+    url="https://gitlab.au.dk/clagms/urinterface",
+    packages=setuptools.find_packages("src"),
+    package_dir={"": "src"},
+    license="INTOCPS",
+    license_files=["LICENSE"],
+    classifiers=[
+        "Development Status :: 4 - Beta",
+        "Intended Audience :: Developers",
+        "License :: OSI Approved :: MIT License",
+        "Programming Language :: Python",
+        "Programming Language :: Python :: 3",
+        "Programming Language :: Python :: 3 :: Only",
+        "Programming Language :: Python :: 3.6",
+        "Programming Language :: Python :: 3.7",
+        "Programming Language :: Python :: 3.8",
+    ]
+)

src/third_party/rtde/__init__.py

+# Copyright (c) 2016, Universal Robots A/S,
+# All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Universal Robots A/S nor the names of its
+#      contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+from .rtde import *
+from .rtde_config import *

src/third_party/rtde/csv_binary_writer.py

+# Copyright (c) 2016, Universal Robots A/S,
+# All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Universal Robots A/S nor the names of its
+#      contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import sys
+sys.path.append('../..')
+
+import struct
+from third_party.rtde import serialize
+
+class CSVBinaryWriter(object):
+    
+    def __init__(self, file, names, types, delimiter=' '):
+        if len(names) != len(types):
+            raise ValueError('List sizes are not identical.')
+        self.__file = file
+        self.__names = names
+        self.__types = types
+        self.__delimiter = delimiter
+        self.__header_names = []
+        self.__columns = 0
+        for i in range(len(self.__names)):
+            size = serialize.get_item_size(self.__types[i])
+            self.__columns += size
+            if size > 1:
+                for j in range(size):
+                    name = self.__names[i]+'_'+str(j)
+                    self.__header_names.append(name)
+            else:
+                name = self.__names[i]
+                self.__header_names.append(name)
+    
+    def getType(self, vtype):
+        if(vtype == 'VECTOR3D'):
+            return "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE"
+        elif(vtype == 'VECTOR6D'):
+            return "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE" + self.__delimiter + "DOUBLE"
+        elif(vtype == 'VECTOR6INT32'):
+            return "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32" + self.__delimiter + "INT32"
+        elif(vtype == 'VECTOR6UINT32'):
+            return "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32" + self.__delimiter + "UINT32"
+        else:
+            return str(vtype)
+
+
+    def writeheader(self):
+        #Header names
+        headerStr=str("")
+        for i in range(len(self.__header_names)):
+            if(i != 0):
+                headerStr += self.__delimiter
+
+            headerStr += self.__header_names[i]
+
+        headerStr += "\n"
+        self.__file.write(struct.pack(str(len(headerStr)) + 's', headerStr))
+
+        #Header types
+        typeStr=str("")
+        for i in range(len(self.__names)):
+            if(i != 0):
+                typeStr += self.__delimiter
+
+            typeStr += self.getType(self.__types[i])
+
+        typeStr += "\n"
+        self.__file.write(struct.pack(str(len(typeStr)) + 's', typeStr))
+
+    
+    def packToBinary(self, vtype, value):
+        print(vtype)
+        if(vtype == 'BOOL'):
+            print("isBOOL" + str(value))
+        if(vtype == 'UINT8'):
+            print("isUINT8" + str(value))
+        elif(vtype == 'INT32'):
+            print("isINT32" + str(value))
+        elif(vtype == 'INT64'):
+            print("isINT64" + str(value))
+        elif(vtype == 'UINT32'):
+            print("isUINT32" + str(value))
+        elif(vtype == 'UINT64'):
+            print("isUINT64" + str(value))
+        elif(vtype == 'DOUBLE'):
+            print("isDOUBLE" + str(value) + str(type(value)) + str(sys.getsizeof(value)))
+        elif(vtype == 'VECTOR3D'):
+            print("isVECTOR3D" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]))
+        elif(vtype == 'VECTOR6D'):
+            print("isVECTOR6D" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
+        elif(vtype == 'VECTOR6INT32'):
+            print("isVECTOR6INT32" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
+        elif(vtype == 'VECTOR6UINT32'):
+            print("isVECTOR6UINT32" + str(value[0]) + ","+ str(value[1]) + ","+ str(value[2]) + ","+ str(value[3]) + ","+ str(value[4]) + ","+ str(value[5]))
+
+    def writerow(self, data_object):
+        self.__file.write(data_object)
+
+    
\ No newline at end of file

src/third_party/rtde/csv_reader.py

+# Copyright (c) 2016, Universal Robots A/S,
+# All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Universal Robots A/S nor the names of its
+#      contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import csv
+import numpy as np
+import logging
+
+from .rtde import LOGNAME
+
+_log = logging.getLogger(LOGNAME)
+
+
+runtime_state = 'runtime_state'
+runtime_state_running = '2'
+
+class CSVReader(object):
+    __samples = None
+    __filename = None
+    def get_header_data(self,__reader):
+        header = next(__reader)
+        return header
+
+    def __init__(self, csvfile, delimiter = ' ', filter_running_program=False):
+        self.__filename = csvfile.name
+
+        csvfile = [csvfile for csvfile in csvfile.readlines() if csvfile.strip()] # remove any empty lines
+
+        reader = csv.reader(csvfile, delimiter=delimiter)
+        header = self.get_header_data(reader)
+
+        # read csv file
+        data = [row for row in reader]
+
+        if len(data)==0:
+            _log.warn('No data read from file: ' + self.__filename)
+
+        # filter data
+        if filter_running_program:
+            if runtime_state not in header:
+                _log.warn('Unable to filter data since runtime_state field is missing in data set')
+            else:
+                idx = header.index(runtime_state)
+                data = [row for row in data if row[idx] == runtime_state_running]
+
+        self.__samples = len(data)
+
+        if self.__samples == 0:
+            _log.warn('No data left from file: ' + self.__filename + ' after filtering')
+
+        # transpose data
+        data = list(zip(*data))
+
+        # create dictionary from  header elements (keys) to float arrays
+        self.__dict__.update({header[i]: np.array(list(map(float, data[:][i]))) for i in range(len(header))})
+
+    def get_samples(self):
+        return self.__samples
+
+    def get_name(self):
+        return self.__filename

src/third_party/rtde/csv_writer.py

+# Copyright (c) 2016, Universal Robots A/S,
+# All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Universal Robots A/S nor the names of its
+#      contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import csv
+
+import sys
+sys.path.append('../..')
+
+from third_party.rtde import serialize
+
+class CSVWriter(object):
+    
+    def __init__(self, csvfile, names, types, delimiter=' '):
+        if len(names) != len(types):
+            raise ValueError('List sizes are not identical.')
+        self.__names = names
+        self.__types = types
+        self.__header_names = []
+        self.__columns = 0
+        for i in range(len(self.__names)):
+            size = serialize.get_item_size(self.__types[i])
+            self.__columns += size
+            if size > 1:
+                for j in range(size):
+                    name = self.__names[i]+'_'+str(j)
+                    self.__header_names.append(name)
+            else:
+                name = self.__names[i]
+                self.__header_names.append(name)
+        self.__writer = csv.writer(csvfile, delimiter=delimiter)
+    
+    def writeheader(self):
+        self.__writer.writerow(self.__header_names)
+    
+    def writerow(self, data_object):
+        data = []
+        for i in range(len(self.__names)):
+            size = serialize.get_item_size(self.__types[i])
+            value = data_object.__dict__[self.__names[i]]
+            if size > 1:
+                data.extend(value)
+            else:
+                data.append(value)
+        self.__writer.writerow(data)
+    
\ No newline at end of file

src/third_party/rtde/record.py

+#!/usr/bin/env python
+# Copyright (c) 2020, Universal Robots A/S,
+# All rights reserved.
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#    * Neither the name of the Universal Robots A/S nor the names of its
+#      contributors may be used to endorse or promote products derived
+#      from this software without specific prior written permission.
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
+# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+import argparse
+import logging
+import sys
+sys.path.append('..')
+import third_party.rtde as rtde
+import third_party.rtde.rtde_config as rtde_config
+import third_party.rtde.csv_writer as csv_writer
+import third_party.rtde.csv_binary_writer as csv_binary_writer
+
+#parameters
+parser = argparse.ArgumentParser()
+parser.add_argument('--host', default='localhost', help='name of host to connect to (localhost)')
+parser.add_argument('--port', type=int, default=30004, help='port number (30004)')
+parser.add_argument('--samples', type=int, default=0, help='number of samples to record')
+parser.add_argument('--frequency', type=int, default=125, help='the sampling frequency in Herz')
+parser.add_argument('--config', default='record_configuration.xml', help='data configuration file to use (record_configuration.xml)')
+parser.add_argument('--output', default='robot_data.csv', help='data output file to write to (robot_data.csv)')
+parser.add_argument("--verbose", help="increase output verbosity", action="store_true")
+parser.add_argument("--binary", help="save the data in binary format", action="store_true")
+args = parser.parse_args()
+
+if args.verbose:
+    logging.basicConfig(level=logging.INFO)
+
+conf = rtde_config.ConfigFile(args.config)
+output_names, output_types = conf.get_recipe('out')
+
+con = rtde.RTDE(args.host, args.port)
+con.connect()
+
+# get controller version
+con.get_controller_version()
+
+# setup recipes
+if not con.send_output_setup(output_names, output_types, frequency = args.frequency):
+    logging.error('Unable to configure output')
+    sys.exit()
+
+#start data synchronization
+if not con.send_start():
+    logging.error('Unable to start synchronization')
+    sys.exit()
+
+writeModes = 'wb' if args.binary else 'w'
+with open(args.output, writeModes) as csvfile:
+    writer = None
+
+    if args.binary:
+        writer = csv_binary_writer.CSVBinaryWriter(csvfile, output_names, output_types)
+    else:
+        writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
+
+    writer.writeheader()
+    
+    i = 1
+    keep_running = True
+    while keep_running:
+        
+        if i%args.frequency == 0:
+            if args.samples > 0:
+                sys.stdout.write("\r")
+                sys.stdout.write("{:.2%} done.".format(float(i)/float(args.samples))) 
+                sys.stdout.flush()
+            else:
+                sys.stdout.write("\r")
+                sys.stdout.write("{:3d} samples.".format(i)) 
+                sys.stdout.flush()
+        if args.samples > 0 and i >= args.samples:
+            keep_running = False
+        try:
+            state = con.receive(args.binary)
+            if state is not None:
+                writer.writerow(state)
+                i += 1
+
+        except KeyboardInterrupt:
+            keep_running = False
+        except rtde.RTDEException:
+            con.disconnect()
+            sys.exit()
+        
+
+sys.stdout.write("\rComplete!            \n")
+
+con.send_pause()
+con.disconnect()
+
+

src/third_party/rtde/record_configuration.xml

+<?xml version="1.0"?>
+<rtde_config>
+	<recipe key="out">
+		<field name="timestamp" type="DOUBLE"/>
+		<field name="target_q" type="VECTOR6D"/>
+		<field name="target_qd" type="VECTOR6D"/>
+		<field name="target_qdd" type="VECTOR6D"/>
+		<field name="target_current" type="VECTOR6D"/>
+		<field name="target_moment" type="VECTOR6D"/>
+		<field name="actual_q" type="VECTOR6D"/>
+		<field name="actual_qd" type="VECTOR6D"/>
+		<field name="actual_current" type="VECTOR6D"/>
+		<field name="joint_control_output" type="VECTOR6D"/>
+		<field name="actual_TCP_pose" type="VECTOR6D"/>
+		<field name="actual_TCP_speed" type="VECTOR6D"/>
+		<field name="actual_TCP_force" type="VECTOR6D"/>
+		<field name="target_TCP_pose" type="VECTOR6D"/>
+		<field name="target_TCP_speed" type="VECTOR6D"/>
+		<field name="actual_digital_input_bits" type="UINT64"/>
+		<field name="joint_temperatures" type="VECTOR6D"/>
+		<field name="actual_execution_time" type="DOUBLE"/>
+		<field name="robot_mode" type="INT32"/>
+		<field name="joint_mode" type="VECTOR6INT32"/>
+		<field name="safety_mode" type="INT32"/>
+		<field name="actual_tool_accelerometer" type="VECTOR3D"/>
+		<field name="speed_scaling" type="DOUBLE"/>
+		<field name="target_speed_fraction" type="DOUBLE"/>
+		<field name="actual_momentum" type="DOUBLE"/>
+		<field name="actual_main_voltage" type="DOUBLE"/>
+		<field name="actual_robot_voltage" type="DOUBLE"/>
+		<field name="actual_robot_current" type="DOUBLE"/>
+		<field name="actual_joint_voltage" type="VECTOR6D"/>
+		<field name="actual_digital_output_bits" type="UINT64"/>
+		<field name="runtime_state" type="UINT32"/>
+<!--
+		<field name="script_control_line" type="UINT32"/>
+		<field name="output_bit_registers0_to_31" type="UINT32"/>
+		<field name="output_bit_registers32_to_63" type="UINT32"/>
+
+		<field name="output_int_register_0" type="INT32"/>
+		<field name="output_int_register_1" type="INT32"/>
+		<field name="output_int_register_2" type="INT32"/>
+		<field name="output_int_register_3" type="INT32"/>
+		<field name="output_int_register_4" type="INT32"/>
+		<field name="output_int_register_5" type="INT32"/>
+		<field name="output_int_register_6" type="INT32"/>
+		<field name="output_int_register_7" type="INT32"/>
+		<field name="output_int_register_8" type="INT32"/>
+		<field name="output_int_register_9" type="INT32"/>
+		<field name="output_int_register_10" type="INT32"/>
+		<field name="output_int_register_11" type="INT32"/>
+		<field name="output_int_register_12" type="INT32"/>
+		<field name="output_int_register_13" type="INT32"/>
+		<field name="output_int_register_14" type="INT32"/>
+		<field name="output_int_register_15" type="INT32"/>
+		<field name="output_int_register_16" type="INT32"/>