ur-sock 0.1

checksums.yaml

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data/COPYING

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
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data/README.md

@@ -0,0 +1,34 @@
+# ur-smart
+
+RTDE interface implementation in ruby
+
+## Getting Started
+
+Uses the RTDE socekt of universal robots. The commands are sent using TCP socket on port 30002.
+
+### Prerequisites & Intallation
+
+To run the server we need the following packages:
+
+
+```
+
+```
+
+
+
+## Contributing
+
+Please read [CONTRIBUTING.md](https://gist.github.com/PurpleBooth/b24679402957c63ec426) for details on our code of conduct, and the process for submitting pull requests to us.
+
+## Authors
+
+* **Florian Pauker** - ** -
+* **Jürgen Mangler** - ** -
+
+See also the list of [contributors](https://intra.acdp.at/gogs/fpauker/ua4ur/contributors) who participated in this project.
+
+## License
+
+This project is licensed under the LGPL3 License - see the [LICENSE.md](LICENSE.md) file for details
+

data/Rakefile

@@ -0,0 +1,21 @@
+require 'rubygems/package_task'
+
+spec = eval(File.read('ur-sock.gemspec'))
+
+task :default => [:gem]
+
+pkg = Gem::PackageTask.new(spec) { |pkg|
+  pkg.need_zip = true
+  pkg.need_tar = true
+  `mkdir pkg`
+  `rm pkg/* -rf`
+  `ln -sf #{pkg.name}.gem pkg/#{spec.name}.gem`
+}
+
+task :push => :gem do |r|
+  `gem push pkg/ur-sock.gem`
+end
+
+task :install => :gem do |r|
+  `gem install pkg/ur-sock.gem`
+end

data/lib/conf.rb

@@ -0,0 +1,21 @@
+require 'xml/smart'
+
+module UR
+
+  class XMLConfigFile
+    def initialize(filename)
+      @names = {}
+      @types = {}
+      doc = XML::Smart.open(filename)
+      doc.find('/rtde_config/recipe/@key').each do |key|
+        @names[key.value] = doc.find("//field/@name").map {|x| x.to_s }
+        @types[key.value] = doc.find("//field/@type").map {|x| x.to_s }
+      end
+    end
+
+    def get_recipe(key)
+      return @names[key], @types[key] if @types.include?(key) && @names.include?(key)
+    end
+  end
+
+end

data/lib/rtde.rb

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+require_relative 'serialize'
+require 'socket'
+require 'logger'
+require 'uri'
+
+module UR
+
+  class Rtde
+    PROTOCOL_VERSION = 2
+
+    module Command #{{{
+      RTDE_REQUEST_PROTOCOL_VERSION = 86        # ASCII V
+      RTDE_GET_URCONTROL_VERSION = 118          # ASCII V
+      RTDE_TEXT_MESSAGE = 77                    # ASCII M
+      RTDE_DATA_PACKAGE = 85                    # ASCII U
+      RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS = 79   # ASCII O
+      RTDE_CONTROL_PACKAGE_SETUP_INPUTS = 73    # ASCII I
+      RTDE_CONTROL_PACKAGE_START = 83           # ASCII S
+      RTDE_CONTROL_PACKAGE_PAUSE = 80           # ascii p
+    end #}}}
+    module ConnectionState #{{{
+      DISCONNECTED = 0
+      CONNECTED = 1
+      STARTED = 2
+      PAUSED = 3
+    end #}}}
+
+    def initialize(host, logger=Logger.new(STDOUT,level: :INFO)) #{{{
+      host = '//' + host if host !~ /\/\//
+      uri = URI::parse(host)
+      @logger = logger
+      @hostname = uri.host
+      @port = uri.port.nil? ? 30004 : uri.port
+      @conn_state = ConnectionState::DISCONNECTED
+      @sock = nil
+      @output_config = nil
+      @input_config = {}
+    end #}}}
+
+    def connect #{{{
+      return if @sock
+
+      @buf = '' # buffer data in binary format
+      begin
+        @sock = Socket.new Socket::AF_INET, Socket::SOCK_STREAM
+        @sock.setsockopt Socket::SOL_SOCKET, Socket::SO_REUSEADDR, 1
+        @sock = TCPSocket.new(@hostname, @port)
+        @conn_state = ConnectionState::CONNECTED
+      rescue
+        @sock = nil
+        raise
+      end
+      if not negotiate_protocol_version
+        raise RuntimeError.new 'Unable to negotiate protocol version'
+      end
+      self
+    end #}}}
+
+    def disconnect #{{{
+      if @sock
+        @sock.close
+        @sock = nil
+        @conn_state = ConnectionState::DISCONNECTED
+        @logger.info "Connection closed " + @hostname +":" + @port.to_s
+        true
+      else
+        false
+      end
+    end #}}}
+
+    def connected? #{{{
+      @conn_state != ConnectionState::DISCONNECTED
+    end #}}}
+
+    def controller_version #{{{
+      cmd = Command::RTDE_GET_URCONTROL_VERSION
+      version = send_and_receive cmd
+      @logger.debug 'Controller Version: ' + version.major.to_s + '.' + version.minor.to_s + '.' + version.bugfix.to_s + '.' + version.build.to_s
+      if version
+        if version.major == 3 && version.minor <=2 && version.bugfix < 19171
+          @logger.error 'Upgrade your controller to version higher than 3.2.19171'
+          exit
+        end
+        [version.major, version.minor, version.bugfix, version.build]
+      else
+        [nil, nil, nil, nil]
+      end
+    end #}}}
+
+    def negotiate_protocol_version #{{{
+      cmd = Command::RTDE_REQUEST_PROTOCOL_VERSION
+      payload = [PROTOCOL_VERSION].pack 'S>'
+      send_and_receive cmd, payload
+    end #}}}
+
+    def send(input_data) #{{{
+      if @conn_state != ConnectionState::STARTED
+        @logger.error 'Cannot send when RTDE synchroinization is inactive'
+        return
+      end
+      if not @input_config.key?(input_data.recipe_id)
+        @logger.error 'Input configuration id not found: ' + @input_data.recipe_id
+        return
+      end
+      config = @input_config[input_data.recipe_id]
+      send_all Command::RTDE_DATA_PACKAGE, config.pack(input_data)
+    end #}}}
+    def send_and_receive(cmd, payload = '') #{{{
+      @logger.debug 'Start send_and_receive'
+      send_all(cmd, payload) ? recv(cmd) : nil
+    end #}}}
+    def send_all(command, payload = '') #{{{
+      fmt = 'S>C'
+      size = ([0,0].pack fmt).length + payload.length
+      buf = [size, command].pack(fmt) + payload
+      @logger.debug 'send_all.size: ' +size.to_s
+      @logger.debug 'send_all.buf: ' + buf.to_s + "\n"
+      if !@sock
+        @logger.error 'Unable to send: not connected to Robot'
+        return false
+      end
+
+      _, writable, _ = IO.select([], [@sock], [])
+      if writable.length > 0
+        #@logger.debug 'buffer: ' + buf
+        @sock.sendmsg(buf)
+        @logger.debug 'sending ok'
+        true
+      else
+        trigger_disconnected
+        false
+      end
+    end #}}}
+    def send_message(message, source = 'Ruby Client', type = Serialize::Message::INFO_MESSAGE) #{{{
+      cmd = Command::RTDE_TEXT_MESSAGE
+      fmt = 'Ca%dCa%dC' % [message.length, source.length]
+      payload = struct.pack(fmt, message.length, message, source.length, source, type)
+      send_all(cmd, payload)
+    end #}}}
+    def send_start #{{{
+      @logger.debug 'Start send_start'
+      cmd = Command::RTDE_CONTROL_PACKAGE_START
+      if send_and_receive cmd
+        @logger.info 'RTDE synchronization started'
+        @conn_state = ConnectionState::STARTED
+        true
+      else
+        @logger.error 'RTDE synchronization failed to start'
+        false
+      end
+    end
+ #}}}
+    def send_pause #{{{
+      cmd = Command::RTDE_CONTROL_PACKAGE_PAUSE
+      success = send_and_receive(cmd)
+      if success
+        @logger.info 'RTDE synchronization paused'
+        @conn_state = ConnectionState::PAUSED
+      else
+        @logger.error('RTDE synchronization failed to pause')
+      end
+      success
+    end #}}}
+    def send_input_setup(variables, types=[]) #{{{
+      cmd = Command::RTDE_CONTROL_PACKAGE_SETUP_INPUTS
+      payload = variables.join ','
+      result = send_and_receive cmd, payload
+      if types.length != 0 && result.types != types
+        @logger.error(
+          'Data type inconsistency for input setup: ' +
+          types.to_s + ' - ' +
+          result.types.to_s
+        )
+        return nil
+      end
+
+      result.names = variables
+      @input_config[result.id] = result
+      Serialize::DataObject.create_empty variables, result.id
+    end #}}}
+    def send_output_setup(variables, types=[], frequency = 125) #{{{
+      @logger.debug 'Start send_output_setup'
+      @logger.debug 'variables: ' + variables.to_s
+      @logger.debug 'types: ' + types.to_s + "\n"
+      cmd = Command::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS
+      payload = [frequency].pack 'G'
+      payload = payload + variables.join(',')
+      result = send_and_receive cmd, payload
+      if types.length != 0 && result.types != types
+        @logger.error(
+          'Data type inconsistency for output setup: ' +
+          types.to_s + ' - ' +
+          result.types.to_s
+        )
+        return false
+      end
+      result.names = variables
+      @output_config = result
+      @logger.debug 'result:' + @output_config.to_s
+      return true
+    end #}}}
+
+    def receive #{{{
+      @logger.debug 'Start receive'
+      if !@output_config
+        @logger.error 'Output configuration not initialized'
+        nil
+      end
+      return nil if @conn_state != ConnectionState::STARTED
+      recv Command::RTDE_DATA_PACKAGE
+    end #}}}
+    def recv(command) #{{{
+      @logger.debug 'Start recv' + @buf.to_s
+      while connected?
+        readable, _, xlist = IO.select([@sock], [], [@sock])
+        @logger.debug 'Readable: ' + readable.to_s
+        if readable.length > 0
+          @logger.debug 'readable.length >0: ' + readable.length.to_s
+          more = @sock.recv(4096)
+          if more.length == 0
+            trigger_disconnected
+            return nil
+          end
+          @buf += more
+        end
+
+        if xlist.length > 0 || readable.length == 0
+          @logger.info 'lost connection with controller'
+          trigger_disconnected
+          return nil
+        end
+        while @buf.length >= 3
+          @logger.debug '@buf>=3'
+          packet_header = Serialize::ControlHeader.unpack(@buf)
+
+          if @buf.length >= packet_header.size
+            @logger.debug '@buf.length >= packet_header.size' + @buf.length.to_s + ">=" + packet_header.size.to_s
+            packet, @buf = @buf[3..packet_header.size], @buf[packet_header.size..-1]
+            #@logger.debug 'Packet:' + packet.to_s
+            @logger.debug 'Packet_Header_Command: ' + packet_header.command.to_s + "\n"
+            data = on_packet(packet_header.command, packet)
+            @logger.debug 'DATA:' + data.to_s
+            if @buf.length >= 3 && command == Command::RTDE_DATA_PACKAGE
+              @logger.debug '@buf.length >= 3 && command == Command::RTDE_DATA_PACKAGE'
+              next_packet_header = Serialize::ControlHeader.unpack(@buf)
+              if next_packet_header.command == command
+                @logger.info 'skipping package(1)'
+                next
+              end
+            end
+            if packet_header.command == command
+              @logger.debug 'returning becuase of packet_header.command == command'
+              return data
+            else
+              @logger.info 'skipping package(2)'
+            end
+          else
+            break
+          end
+        end
+      end
+      nil
+    end #}}}
+
+    def on_packet(cmd, payload) #{{{
+      return unpack_protocol_version_package(payload)     if cmd == Command::RTDE_REQUEST_PROTOCOL_VERSION
+      return unpack_urcontrol_version_package(payload)    if cmd == Command::RTDE_GET_URCONTROL_VERSION
+      return unpack_text_message(payload)                 if cmd == Command::RTDE_TEXT_MESSAGE
+      return unpack_setup_outputs_package(payload)        if cmd == Command::RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS
+      return unpack_setup_inputs_package(payload)         if cmd == Command::RTDE_CONTROL_PACKAGE_SETUP_INPUTS
+      return unpack_start_package(payload)                if cmd == Command::RTDE_CONTROL_PACKAGE_START
+      return unpack_pause_package(payload)                if cmd == Command::RTDE_CONTROL_PACKAGE_PAUSE
+      return unpack_data_package(payload, @output_config) if cmd == Command::RTDE_DATA_PACKAGE
+      @logger.error 'Unknown package command' + cmd.to_s
+    end #}}}
+
+    def has_data? #{{{
+      timeout = 0
+      readable, _, _ = IO.select([@sock], [], [], timeout)
+      readable.length != 0
+    end #}}}
+
+    def trigger_disconnected #{{{
+      @logger.info 'RTDE disconnected'
+      disconnect
+    end #}}}
+
+     def unpack_protocol_version_package(payload) #{{{
+       @logger.debug 'unpaking protocol version package'
+       return nil if payload.length != 1
+       Serialize::ReturnValue.unpack(payload).success
+     end #}}}
+     def unpack_urcontrol_version_package(payload) #{{{
+       @logger.debug 'unpack urcontrol_version'
+       return nil if payload.length != 16
+       @logger.debug 'packet lenght ok'
+       Serialize::ControlVersion.unpack payload
+     end #}}}
+     def unpack_text_message(payload) #{{{
+       return nil if payload.length < 1
+       msg = Serialize::Message.unpack payload
+       @logger.error  (msg.source + ':' + msg.message) if msg.level == Serialize::Message::EXCEPTION_MESSAGE || msg.level == Serialize::Message::ERROR_MESSAGE
+       @logger.warning(msg.source + ':' + msg.message) if msg.level == Serialize::Message::WARNING_MESSAGE
+       @logger.info   (msg.source + ':' + msg.message) if msg.level == Serialize::Message::INFO_MESSAGE
+     end #}}}
+     def unpack_setup_outputs_package(payload) #{{{
+       @logger.debug 'Start unpack_setup_outputs_package'
+       if payload.length < 1
+         @logger.error 'RTDE_CONTROL_PACKAGE_SETUP_OUTPUTS: No payload'
+         return nil
+       end
+       @logger.debug 'Payload for unpack: ' + payload.to_s
+       Serialize::DataConfig.unpack_recipe payload
+     end #}}}
+     def unpack_setup_inputs_package(payload) #{{{
+       if payload.length < 1
+         @logger.error 'RTDE_CONTROL_PACKAGE_SETUP_INPUTS: No payload'
+         return nil
+       end
+       Serialize::DataConfig.unpack_recipe payload
+     end #}}}
+     def unpack_start_package(payload) #{{{
+       if payload.length != 1
+         @logger.error 'RTDE_CONTROL_PACKAGE_START: Wrong payload size'
+         return nil
+       end
+       Serialize::ReturnValue.unpack(payload).success
+     end #}}}
+     def unpack_pause_package(payload) #{{{
+       if payload.length != 1
+         @logger.error 'RTDE_CONTROL_PACKAGE_PAUSE: Wrong payload size'
+         return nil
+       end
+       Serialize::ReturnValue.unpack(payload).success
+     end #}}}
+     def unpack_data_package(payload, output_config) #{{{
+       if !output_config
+         @logger.error 'RTDE_DATA_PACKAGE: Missing output configuration'
+         return nil
+       end
+       @logger.debug "outputconfig: " + output_config.to_s
+       @logger.debug "payload: " + payload.to_s
+       output_config.unpack payload
+     end #}}}
+
+  end
+
+end

data/lib/serialize.rb

@@ -0,0 +1,185 @@
+#!/usr/bin/env ruby
+
+module UR
+  module Serialize
+    module ControlHeader
+      Data = Struct.new(:size, :command)
+      def self.unpack str
+        Data.new *str.unpack('S>C')
+      end
+    end
+
+    module ControlVersion
+      Data = Struct.new(:major, :minor, :bugfix, :build)
+      def self.unpack(str)
+        Data.new *str.unpack('I>I>I>I>')
+      end
+    end
+
+    module ReturnValue
+      Data = Struct.new :success
+      def self.unpack(str)
+        Data.new *str.unpack('C')
+      end
+    end
+
+    module Message
+      Data = Struct.new :level, :message, :source
+      EXCEPTION_MESSAGE = 0
+      ERROR_MESSAGE = 1
+      WARNING_MESSAGE = 2
+      INFO_MESSAGE = 3
+
+      def self.unpack
+        msg_length = buf.unpack('C')
+        msg = buf.unpack('x' + C * msg_length).pack('C*')
+        src_length = buf.unpack('x' + 'x' * msg_length + 'C')
+        src = buf.unpack('x' + 'x' * msg_length + 'x' + 'C' * src_length).pack('C*')
+        lvl = buf.unpack('x' + 'x' * msg_length + 'x' + 'x' * src_length + 'C')
+        Data.new(level,lvl,msg,src)
+      end
+    end
+
+    def self.get_item_size(data_type)
+      if data_type.start_with? 'VECTOR6'
+        6
+      elsif data_type.start_with? 'VECTOR3'
+        3
+      else
+        1
+      end
+    end
+
+    def self.unpack_field(data, offset, data_type)
+      size = self.get_item_size(data_type)
+      if data_type == 'VECTOR6D' or data_type == 'VECTOR3D'
+        data[offset...offset+size].map(&:to_f)
+      elsif data_type == 'VECTOR6UINT32'
+        data[offset...offset+size].map(&:to_i)
+      elsif data_type == 'DOUBLE'
+        data[offset].to_f
+      elsif data_type == 'UINT32' or data_type == 'UINT64'
+        data[offset].to_i
+      elsif data_type == 'VECTOR6INT32'
+        data[offset...offset+size].map(&:to_i)
+      elsif data_type == 'INT32' or data_type == 'UINT8'
+        data[offset].to_i
+      else
+        raise TypeError.new('unpack_field: unknown data type: ' + data_type)
+      end
+    end
+    def [](item)
+      @values[item]
+    end
+
+    class DataObject
+      attr_reader :values
+      attr_accessor :recipe_id
+
+      def initialize
+        @values = {}
+        @recipe_id = nil
+      end
+
+      def [](item)
+        @values[item]
+      end
+      def []=(item,value)
+        @values[item] = value
+      end
+
+      def self.unpack(data, names, types)
+        if names.length != types.length
+          raise RuntimeError.new('List sizes are not identical.')
+        end
+        obj = DataObject.new
+        offset = 0
+        obj.recipe_id = data[0]
+
+        #puts "Datat:" + data.to_s
+
+        names.each_with_index do |name,i|
+          #obj.values[i] = data[1..-1].unpack('x' * offset + types[i])
+          #puts unpack_field(data[1..-1], offset, types[i])
+
+          obj.values[name] = Serialize.unpack_field(data[1..-1], offset, types[i])
+          #puts "obj"
+          #puts obj.values[i]
+          offset += Serialize::get_item_size(types[i])
+        end
+        #puts "obj:" + obj.values.to_s
+        obj
+      end
+
+      def self.create_empty(names, recipe_id)
+        obj = DataObject.new
+        names.each do |i|
+          obj.values[i] = nil
+        end
+        obj.recipe_id = recipe_id
+        obj
+      end
+
+      def pack(names, types)
+        if names.length != types.length
+          raise RuntimeError.new('List sizes are not identical.')
+        end
+        l = []
+        l.append @recipe_id unless @recipe_id
+        names.each do |i|
+          raise RuntimeEror.new('Uninitialized parameter: ' + i) unless @values[i]
+          l.push *@values[i]
+        end
+        l
+      end
+    end
+
+    class DataConfig < Struct.new(:id, :names, :types, :fmt)
+      def self.unpack_recipe(buf)
+        rmd = DataConfig.new
+        rmd.id = buf.unpack('C')[0]
+        rmd.types = buf[1..-1].split(',')
+        rmd.fmt = 'C'
+        #puts "DataConfig: " +rmd.to_s
+        rmd.types.each do |i|
+          if i == 'INT32'
+            rmd.fmt += 'i>'
+          elsif i == 'UINT32'
+            rmd.fmt += 'I>'
+          elsif i == 'VECTOR6D'
+            rmd.fmt += 'G'*6
+          elsif i == 'VECTOR3D'
+            rmd.fmt += 'G'*3
+          elsif i == 'VECTOR6INT32'
+            rmd.fmt += 'i>'*6
+          elsif i == 'VECTOR6UINT32'
+            rmd.fmt += 'I>'*6
+          elsif i == 'DOUBLE'
+            rmd.fmt += 'G'
+          elsif i == 'UINT64'
+            rmd.fmt += 'Q>'
+          elsif i == 'UINT8'
+            rmd.fmt += 'C'
+          elsif i == 'IN_USE'
+            raise TypeError 'An input parameter is already in use.'
+          else
+            raise TypeError 'Unknown data type: ' + i
+          end
+        end
+        @fmt = rmd.fmt
+        rmd
+      end
+
+      def pack(state)
+        l = state.pack(self.names, self.types)
+        l.pack(self.fmt)
+      end
+
+      def unpack(data)
+        li = data.unpack(self.fmt)
+        DataObject.unpack(li, self.names, self.types)
+      end
+    end
+
+  end
+end

data/lib/ur-sock.rb

@@ -0,0 +1,2 @@
+require_relative 'conf'
+require_relative 'rtde'

data/ur-sock.gemspec

@@ -0,0 +1,23 @@
+Gem::Specification.new do |s|
+  s.name             = "ur-sock"
+  s.version          = "0.1"
+  s.platform         = Gem::Platform::RUBY
+  s.license          = "LGPL-3.0"
+  s.summary          = "Preliminary release of Universal Robot (UR) Socket Communication."
+
+  s.description      = "see https://github.com/fpauker/ur-sock"
+
+  s.files            = Dir['{example/**/*,lib/**/*.rb,contrib/logo*}'] + %w(COPYING Rakefile ur-sock.gemspec README.md)
+  s.extensions       = Dir["ext/**/extconf.rb"]
+  s.require_path     = 'lib'
+  s.extra_rdoc_files = ['README.md']
+
+  s.required_ruby_version = '>=2.3.0'
+
+  s.authors          = ['Florian Pauker','Juergen eTM Mangler']
+
+  s.email            = 'florian.pauker@gmail.com'
+  s.homepage         = 'https://github.com/fpauker/ur-sock'
+
+	s.add_runtime_dependency 'xml-smart', '>=0.3.6', '~>0'
+end

metadata

@@ -0,0 +1,73 @@
+--- !ruby/object:Gem::Specification
+name: ur-sock
+version: !ruby/object:Gem::Version
+  version: '0.1'
+platform: ruby
+authors:
+- Florian Pauker
+- Juergen eTM Mangler
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2019-05-17 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: xml-smart
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.3.6
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: 0.3.6
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '0'
+description: see https://github.com/fpauker/ur-sock
+email: florian.pauker@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files:
+- README.md
+files:
+- COPYING
+- README.md
+- Rakefile
+- lib/conf.rb
+- lib/rtde.rb
+- lib/serialize.rb
+- lib/ur-sock.rb
+- ur-sock.gemspec
+homepage: https://github.com/fpauker/ur-sock
+licenses:
+- LGPL-3.0
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: 2.3.0
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.7.6.2
+signing_key: 
+specification_version: 4
+summary: Preliminary release of Universal Robot (UR) Socket Communication.
+test_files: []