PolyScope version compatibility

Version-breaking changes

The table below shows breaking changes in the library compared to PolyScope versions. Compatibility is listed for CB3 robots (versions 3.x.y) and e-Series robots (versions 5.x.y) respectively.

It might be possible to use the library in a more recent version than the compatible versions listed below, but that might either require some manual modifications or not using a subset of features. For that reason the breaking changes are also listed inside the table. Please note that choosing a higher library version than recommended happens on your own risk and will not be supported.

If your PolyScope version is less than the minimum required version for the latest library version, we suggest to upgrade your robot’s software. Please refer to the robot’s user manual how to update your robot.

If you don’t want to update your robot you can either use the release version as listed in the table below or checkout the latest tag before the breaking changes were introduced.

PolyScope version	Max. release	Latest tag	Breaking changes
< 3.12.3 / 5.5.1	1.1.0	polyscope_compat_break_1	tcp_offset in RTDE interface
< 3.14.3 / 5.9.4	1.3.1	polyscope_compat_break_2	Use of scalar product in urscript

Note

PolyScope X doesn’t support all features supported by this library for PolyScope 5. Currently, the following components are known not to be supported:

• Dashboard client – PolyScope X doesn’t have a dashboard server.

• Using external control on PolyScope X requires another URCapX for making external control work. This is currently in the process of being created. See Universal Robots External Control URCapX

Features requiring a specific PolyScope version

Features in this section have been added in a backwards-compatible way. It is still possible to use this library with an older compatible version, but trying to use one of the features below might lead to a runtime exception.

Torque control (From version 2.4.0)

The direct torque control mode is only available on PolyScope 5.23.0 / 10.10.0 and later. This includes the TORQUE control mode in the ReverseInterface as well as the setFrictionCompensation() function in the ScriptCommandInterface.