From 1a479422eddf2c7f6340102450b8f3713f45c11b Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:26:07 +0100
Subject: [PATCH 01/21] Directly run commands in ci container

---
 .github/workflows/build.yaml | 50 +++++++++++++++++++++++++++++++-----
 1 file changed, 44 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index dd13b84..491dd18 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -1,5 +1,10 @@
 name: Build URCap
-on: [push, pull_request]
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
 
 jobs:
   build:
@@ -7,16 +12,49 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        SDK_VERSION: [1.6.1, 1.7.0, 1.8.0, 1.9.0]
+        SDK_VERSION:
+          #- 1.6.1
+          #- 1.7.0
+          #- 1.8.0
+          - 1.9.0
+          #- 1.10.0
+          #- 1.11.0
+          #- 1.12.0
+          #- 1.13.0
+          #- 1.14.0
+          #- 1.15.0
+          #- 1.16.0
 
     steps:
-      - uses: actions/checkout@v1
-      - uses: ./.github/actions/build_urcap
+      - uses: actions/checkout@v4
+      - run: |
+          SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
+          SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
+          SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
+          apt-get update && apt-get install -y default-jdk maven dialog sshpass unzip curl
+          download_folder=$(mktemp -d)
+          pushd ${download_folder}
+          curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
+          mkdir sdk
+          unzip -q sdk-${SDK_VERSION}.zip -d sdk
+          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -lt 10 ]; then
+            cd sdk
+          else
+            cd sdk/URCap_SDK-${SDK_VERSION}
+          fi
+          ./install.sh
+          popd
+          mvn install
         env:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
-      - name: Run URSim
+      - name: start ursim
         run: |
-          .github/dockerursim/build_and_run_docker_ursim.sh
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001:30004 --name ursim
+        #env:
+          #DOCKER_RUN_OPTS: --network ursim_net
+          #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
+          #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
+          #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: Install netcat
         run: |
           sudo apt-get update && sudo apt-get install -y netcat

From 8e60ba23a4c3076fb1b533f8715a35c97f7c021c Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:27:31 +0100
Subject: [PATCH 02/21] Update upload-artifact

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 491dd18..d0246dc 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -65,7 +65,7 @@ jobs:
         run: |
           python3 tests/test_urcap.py
       - name: Upload urcap_artifact
-        uses: actions/upload-artifact@v1
+        uses: actions/upload-artifact@v4
         with:
           path: target
           name: external_control_sdk-${{ matrix.SDK_VERSION }}.urcap

From 60474e94beb7ec319c4f596eaff2fe920c9f3863 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:29:31 +0100
Subject: [PATCH 03/21] Use sudo

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index d0246dc..bcf12c4 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -31,7 +31,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          apt-get update && apt-get install -y default-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y default-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip

From c5094966a5822e43468ccce91f326bbd28d63043 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:32:11 +0100
Subject: [PATCH 04/21] Use newer version

---
 .github/workflows/build.yaml | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index bcf12c4..b5163a9 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -16,14 +16,12 @@ jobs:
           #- 1.6.1
           #- 1.7.0
           #- 1.8.0
-          - 1.9.0
+          #- 1.9.0
           #- 1.10.0
           #- 1.11.0
           #- 1.12.0
           #- 1.13.0
-          #- 1.14.0
-          #- 1.15.0
-          #- 1.16.0
+          - 1.14.0
 
     steps:
       - uses: actions/checkout@v4

From 21db98c1c31ba1a37c35ad108fb5b4717214f06d Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:40:52 +0100
Subject: [PATCH 05/21] Fix version-dependent unzip

---
 .github/workflows/build.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index b5163a9..633ce2f 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -35,10 +35,10 @@ jobs:
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
           mkdir sdk
           unzip -q sdk-${SDK_VERSION}.zip -d sdk
-          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -lt 10 ]; then
-            cd sdk
-          else
+          if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -eq 10 ]; then
             cd sdk/URCap_SDK-${SDK_VERSION}
+          else
+            cd sdk
           fi
           ./install.sh
           popd

From 61d9f2dc3405bb377688280b2d4eaa72b848f10a Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:49:28 +0100
Subject: [PATCH 06/21] start ursim

---
 .github/workflows/build.yaml | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 633ce2f..53722a1 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -13,11 +13,6 @@ jobs:
       fail-fast: false
       matrix:
         SDK_VERSION:
-          #- 1.6.1
-          #- 1.7.0
-          #- 1.8.0
-          #- 1.9.0
-          #- 1.10.0
           #- 1.11.0
           #- 1.12.0
           #- 1.13.0
@@ -47,7 +42,7 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001:30004 --name ursim
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest
         #env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}

From e66f5da0de8c6d3d28931805d07f3c3981638f30 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:55:48 +0100
Subject: [PATCH 07/21] Use jdk-11

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 53722a1..421ad77 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -24,7 +24,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          sudo apt-get update && sudo apt-get install -y default-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y openjdk-11-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip

From 5305cc28158cc448cbad0325a0d564aa0ba5591e Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 16:56:24 +0100
Subject: [PATCH 08/21] Specify netcat version

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 421ad77..90f2284 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -50,7 +50,7 @@ jobs:
           #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
       - name: Install netcat
         run: |
-          sudo apt-get update && sudo apt-get install -y netcat
+          sudo apt-get install -y netcat-openbsd
       - name: Wait for dashboard client
         run: |
           ./.github/helpers/wait_for_dashboard_server.sh

From ecf93c12b0193612ad2acec8822b36b9b9d266d9 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 17:08:48 +0100
Subject: [PATCH 09/21] Mount program folder

---
 .github/workflows/build.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 90f2284..88c7668 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -42,12 +42,12 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest
-        #env:
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest -v ${PROGRAM_FOLDER}:/ursim/programs
+        env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
-          #PROGRAM_FOLDER: ${{matrix.env.PROGRAM_FOLDER}}
+          PROGRAM_FOLDER: ./.github/dockerursim/.vol
       - name: Install netcat
         run: |
           sudo apt-get install -y netcat-openbsd

From 94a7cf7bb856bd54a6bf0e49dcb7aef0d3f53454 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 17 Feb 2025 17:14:28 +0100
Subject: [PATCH 10/21] openjdk8

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 88c7668..3b70af8 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -24,7 +24,7 @@ jobs:
           SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
           SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
           SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-          sudo apt-get update && sudo apt-get install -y openjdk-11-jdk maven dialog sshpass unzip curl
+          sudo apt-get update && sudo apt-get install -y openjdk-8-jdk maven dialog sshpass unzip curl
           download_folder=$(mktemp -d)
           pushd ${download_folder}
           curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip

From 54e3ca84edca630829a7e2e0e6c540c6e61cee66 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 21 Nov 2025 11:47:45 +0100
Subject: [PATCH 11/21] tmp

---
 .github/actions/build_urcap/Dockerfile           |  2 +-
 .github/actions/build_urcap/entrypoint.sh        |  6 +++---
 .../dockerursim/build_and_run_docker_ursim.sh    | 16 ----------------
 3 files changed, 4 insertions(+), 20 deletions(-)
 delete mode 100755 .github/dockerursim/build_and_run_docker_ursim.sh

diff --git a/.github/actions/build_urcap/Dockerfile b/.github/actions/build_urcap/Dockerfile
index 5a9cc94..c95a53d 100644
--- a/.github/actions/build_urcap/Dockerfile
+++ b/.github/actions/build_urcap/Dockerfile
@@ -1,5 +1,5 @@
 # Container image that runs your code
-FROM ubuntu:bionic
+FROM ubuntu:noble
 
 # Copies your code file from your action repository to the filesystem path `/` of the container
 COPY entrypoint.sh /entrypoint.sh
diff --git a/.github/actions/build_urcap/entrypoint.sh b/.github/actions/build_urcap/entrypoint.sh
index 08f0583..fda26fe 100755
--- a/.github/actions/build_urcap/entrypoint.sh
+++ b/.github/actions/build_urcap/entrypoint.sh
@@ -11,10 +11,10 @@ pushd ${download_folder}
 curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
 mkdir sdk
 unzip -q sdk-${SDK_VERSION}.zip -d sdk
-if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -lt 10 ]; then
-  cd sdk
-else
+if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -eq 10 ]; then
   cd sdk/URCap_SDK-${SDK_VERSION}
+else
+  cd sdk
 fi
 ./install.sh
 
diff --git a/.github/dockerursim/build_and_run_docker_ursim.sh b/.github/dockerursim/build_and_run_docker_ursim.sh
deleted file mode 100755
index ac54b61..0000000
--- a/.github/dockerursim/build_and_run_docker_ursim.sh
+++ /dev/null
@@ -1,16 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
-
-# Make directory to store the URCap
-mkdir ${DIR}/urcaps 2>/dev/null
-cp target/externalcontrol-*.jar ${DIR}/urcaps/externalcontrol.jar
-
-docker run --rm --name="mydockerursim" -d \
-  -e ROBOT_MODEL=UR5 \
-  --network host \
-  -v "${DIR}/.vol":/ursim/programs \
-  -v "${DIR}/urcaps":/urcaps \
-  --privileged \
-  --cpus=1 \
-  universalrobots/ursim_e-series

From 063bef81ec39eb4d3c3e596ba1e8f0312bd0c34b Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 13:49:38 +0100
Subject: [PATCH 12/21] Update compiler version

---
 pom.xml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pom.xml b/pom.xml
index e024f05..1eaf8bd 100644
--- a/pom.xml
+++ b/pom.xml
@@ -52,8 +52,8 @@
 				<artifactId>maven-compiler-plugin</artifactId>
 				<version>3.6.0</version>
 				<configuration>
-					<source>1.6</source>
-					<target>1.6</target>
+					<source>1.8</source>
+					<target>1.8</target>
 				</configuration>
 			</plugin>
 			<plugin>

From d7c4a69f06f81d0983cacf726dc67333bbe43454 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 13:54:48 +0100
Subject: [PATCH 13/21] Add full matrix

---
 .github/workflows/build.yaml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 3b70af8..5afdd25 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -13,9 +13,9 @@ jobs:
       fail-fast: false
       matrix:
         SDK_VERSION:
-          #- 1.11.0
-          #- 1.12.0
-          #- 1.13.0
+          - 1.11.0
+          - 1.12.0
+          - 1.13.0
           - 1.14.0
 
     steps:

From 6d565de94943f86fb795cbba0757cae2c41c4ea7 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 14:49:32 +0100
Subject: [PATCH 14/21] Fix docker command

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 5afdd25..45651d0 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -42,7 +42,7 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 --name ursim universalrobots/ursim_e-series:latest -v ${PROGRAM_FOLDER}:/ursim/programs
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs --name ursim universalrobots/ursim_e-series:latest
         env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}

From 003d8602f1205c215ddcee5bc3843a7b052a07bd Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 15:04:38 +0100
Subject: [PATCH 15/21] Use relative path

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 45651d0..194f569 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -47,7 +47,7 @@ jobs:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
-          PROGRAM_FOLDER: ./.github/dockerursim/.vol
+          PROGRAM_FOLDER: .github/dockerursim/.vol
       - name: Install netcat
         run: |
           sudo apt-get install -y netcat-openbsd

From 1fc024e866da39d71dabfc995768757e3d07ae07 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 15:06:42 +0100
Subject: [PATCH 16/21] Add debug output

---
 .github/workflows/build.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 194f569..42a6ad5 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -43,6 +43,7 @@ jobs:
       - name: start ursim
         run: |
           docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs --name ursim universalrobots/ursim_e-series:latest
+          docker container inspect ursim
         env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}

From 434b4ac4f7ce292fa2e22ad20184f533af330995 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 15:12:47 +0100
Subject: [PATCH 17/21] Mount urcaps outout folder

---
 .github/workflows/build.yaml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 42a6ad5..dc8ee54 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -42,13 +42,14 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs --name ursim universalrobots/ursim_e-series:latest
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs -v ${PROGRAM_FOLDER}:/urcaps --name ursim universalrobots/ursim_e-series:latest
           docker container inspect ursim
         env:
           #DOCKER_RUN_OPTS: --network ursim_net
           #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
           #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
-          PROGRAM_FOLDER: .github/dockerursim/.vol
+          PROGRAM_FOLDER: ./.github/dockerursim/.vol
+          URCAPS_FOLDER: ./target
       - name: Install netcat
         run: |
           sudo apt-get install -y netcat-openbsd

From fc20daf23a8f059806065bf3db8b18381a0ab020 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 15:17:27 +0100
Subject: [PATCH 18/21] Fix variable name

---
 .github/workflows/build.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index dc8ee54..74460fe 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -42,7 +42,7 @@ jobs:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs -v ${PROGRAM_FOLDER}:/urcaps --name ursim universalrobots/ursim_e-series:latest
+          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs -v ${URCAPS_FOLDER}:/urcaps --name ursim universalrobots/ursim_e-series:latest
           docker container inspect ursim
         env:
           #DOCKER_RUN_OPTS: --network ursim_net

From fb7706475d69594d51803e271d114abf5d79f045 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 16:49:31 +0100
Subject: [PATCH 19/21] Refactor wait_for_dashboard_server

---
 .github/helpers/wait_for_dashboard_server.sh | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/helpers/wait_for_dashboard_server.sh b/.github/helpers/wait_for_dashboard_server.sh
index cde78d1..6542fd3 100755
--- a/.github/helpers/wait_for_dashboard_server.sh
+++ b/.github/helpers/wait_for_dashboard_server.sh
@@ -1,11 +1,12 @@
 #!/bin/bash
 
-netcat -z 127.0.0.1 29999
-while [ $? -eq 1 ]
+expected="Connected: Universal Robots Dashboard Server
+Disconnected"
+response=$(echo "quit" | netcat -q 1 127.0.0.1 29999)
+while [ "$response" != "$expected" ]
 do
   echo "Dashboard server not accepting connections..."
   sleep 3
-  netcat -z 127.0.0.1 29999
+  response=$(echo "quit" | netcat -q 1 127.0.0.1 29999)
 done
 echo "Dashboard server connections are possible."
-sleep 5
\ No newline at end of file

From 511ac8e288251bbe9b790e7e8b0765457eeefd30 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 17:45:29 +0100
Subject: [PATCH 20/21] Use ursim_net

---
 .github/dockerursim/.vol/default.installation | 164 +++++++++---------
 .github/dockerursim/.vol/default.variables    |   3 +-
 .github/workflows/build.yaml                  |  14 +-
 3 files changed, 94 insertions(+), 87 deletions(-)

diff --git a/.github/dockerursim/.vol/default.installation b/.github/dockerursim/.vol/default.installation
index 7cd0e67..cd49183 100644
--- a/.github/dockerursim/.vol/default.installation
+++ b/.github/dockerursim/.vol/default.installation
@@ -1,4 +1,4 @@
-<Installation directory="/ursim/programs" fileName="default" showSpeedSliderOnRunTab="false">
+<Installation INSTALLATION-VERSION="2" INSTALLATION-LAST-SAVED-VERSION="2" directory="/ursim/programs" fileName="default" showSpeedSliderOnRunTab="false">
   <IOs>
     <DigitalInputNames value=", , , , , , , "/>
     <DigitalOutputNames value=", , , , , , , "/>
@@ -19,8 +19,7 @@
     <ToolDigitalOutputActions value="NONE, NONE"/>
     <AnalogOutputActions value="NONE, NONE"/>
     <ConfigurableOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
-    <euromapOutputModificationChoice value="1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1"/>
-    <euromapOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
+    <ModbusUnits/>
     <GeneralPurposeBooleanRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
     <GeneralPurposeBooleanRegisterOutputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
     <GeneralPurposeIntRegisterInputNames value=", , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , "/>
@@ -31,23 +30,11 @@
     <GeneralPurposeBooleanRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
     <GeneralPurposeIntRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
     <GeneralPurposeFloatRegisterOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
-    <ModbusUnits/>
+    <euromapOutputModificationChoice value="1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1"/>
+    <euromapOutputActions value="NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE"/>
   </IOs>
-  <Version projectName="URSoftware" major="5" minor="11" bugfix="1" buildNumber="108318" buildDate="Jun 18 2021, 12:00:00"/>
-  <LastSavedInVersion reference="../Version"/>
-  <SmoothTransitionSettings transitionHardness="SOFT"/>
-  <ResourceControlSettings/>
-  <ContinuousPulse/>
-  <PayloadSettings>
-    <Payload name="Payload" mass="0.0" defaultPayload="true" centerOfGravity="0.0, 0.0, 0.0" inertiaParameters="0.0, 0.0, 0.0, 0.0, 0.0, 0.0" customInertiaEnabled="false"/>
-  </PayloadSettings>
-  <SafeHomeSettings enabled="true" position="0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, 0.0"/>
-  <TCPSettings activePose="TCP">
-    <availablePoses>
-      <tcp id="2e4b410d-3d81-4c59-937c-087544210280" name="TCP" offset="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
-    </availablePoses>
-  </TCPSettings>
-  <DefaultProgramSettings autoLoad="false"/>
+  <Version major="5" minor="11" bugfix="1"/>
+  <LastSavedInVersion major="5" minor="24" bugfix="0"/>
   <Features>
     <CameraView>
       <worldTransform class="WorldTransform">
@@ -61,8 +48,51 @@
       <ToolView showAxes="true" joggable="true" isVariable="false" id="3a9e24b6-0faf-4e81-8344-6af13d2e6405"/>
     </ToolView>
   </Features>
-  <ToolCommSettings enabled="false" toolAnalogInput2="VOLTAGE" toolAnalogInput3="VOLTAGE" baudRate="BAUD_115200" parity="NONE" stopBits="ONE" rxIdleChars="1.5" txIdleChars="3.5" toolOutputMode="OUTPUT" toolDigitalOutput0="SINKING" toolDigitalOutput1="SINKING" toolOutputVoltage="ZERO"/>
   <SafetySettings>
+[SafetyIOConfiguration Inputs]
+emergencyStopInputA = 255
+emergencyStopInputB = 255
+reducedModeInputA = 255
+reducedModeInputB = 255
+safeguardStopResetInputA = 0
+safeguardStopResetInputB = 1
+threePositionEnablingInputA = 255
+threePositionEnablingInputB = 255
+operationalModeInputA = 255
+operationalModeInputB = 255
+automaticModeSafeguardStopInputA = 255
+automaticModeSafeguardStopInputB = 255
+automaticModeSafeguardStopResetInputA = 255
+automaticModeSafeguardStopResetInputB = 255
+freedriveOnRobotInputA = 255
+freedriveOnRobotInputB = 255
+
+[SafetyIOConfiguration Outputs]
+systemEmergencyStopOutputA = 255
+systemEmergencyStopOutputB = 255
+robotMovingOutputA = 255
+robotMovingOutputB = 255
+robotNotStoppingOutputA = 255
+robotNotStoppingOutputB = 255
+reducedModeOutputA = 255
+reducedModeOutputB = 255
+notReducedModeOutputA = 255
+notReducedModeOutputB = 255
+safeHomeOutputA = 255
+safeHomeOutputB = 255
+configOut0and1_OSSD = 0
+configOut2and3_OSSD = 0
+configOut4and5_OSSD = 0
+configOut6and7_OSSD = 0
+
+[SafetySetup]
+verified = true
+withPositionLimits = [true, true, true, true, true, true]
+
+[Safety Checksum]
+version = 5.5
+crc = 1475618907
+
 [SafetyLimits BoundaryPlane0]
 name = Safety plane 0
 displacement = 0.0
@@ -132,20 +162,16 @@ tcpOrientationVector = [0.0, 0.0, 1.0]
 maximumTcpOrientationDeviation = 3.159045946109736
 mode = DISABLED
 
-[WorkpieceConfiguration]
-toolSpheres = [[0.0, 0.0, 0.0, 0.0]]
-toolSphereNames = [Tool Flange]
-toolSphereIDs = [null]
-toolDirectionInclination = 0.0
-toolDirectionAzimuth = 0.0
+[MiscConfiguration]
+teach_pendant = 1
+euromap67 = 0
 
 [ThreePositionEnabling]
 useTP3PE = 0
 allowManualHighSpeed = 1
 
-[MiscConfiguration]
-teach_pendant = 1
-euromap67 = 0
+[SafeHome]
+safeHomePosition = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
 
 [SafetyLimits Normal Values]
 maxTcpSpeed = 1.5
@@ -181,62 +207,40 @@ maxJointPosition = [0.05235987799999986, 0.05235987799999986, 0.0523598779999998
 minJointRevolutions = [-2, -2, -2, -2, -2, -2]
 maxJointRevolutions = [1, 1, 1, 1, 1, 1]
 
-[SafetySetup]
-withPositionLimits = [true, true, true, true, true, true]
-verified = true
-
-[Safety Checksum]
-version = 5.5
-crc = 1475618907
-
-[SafeHome]
-safeHomePosition = [-1.0, -1.0, -1.0, -1.0, -1.0, -1.0]
-
-[SafetyIOConfiguration Inputs]
-emergencyStopInputA = 255
-emergencyStopInputB = 255
-reducedModeInputA = 255
-reducedModeInputB = 255
-safeguardStopResetInputA = 0
-safeguardStopResetInputB = 1
-threePositionEnablingInputA = 255
-threePositionEnablingInputB = 255
-operationalModeInputA = 255
-operationalModeInputB = 255
-automaticModeSafeguardStopInputA = 255
-automaticModeSafeguardStopInputB = 255
-automaticModeSafeguardStopResetInputA = 255
-automaticModeSafeguardStopResetInputB = 255
-
-[SafetyIOConfiguration Outputs]
-systemEmergencyStopOutputA = 255
-systemEmergencyStopOutputB = 255
-robotMovingOutputA = 255
-robotMovingOutputB = 255
-robotNotStoppingOutputA = 255
-robotNotStoppingOutputB = 255
-reducedModeOutputA = 255
-reducedModeOutputB = 255
-notReducedModeOutputA = 255
-notReducedModeOutputB = 255
-safeHomeOutputA = 255
-safeHomeOutputB = 255
-configOut0and1_OSSD = 0
-configOut2and3_OSSD = 0
-configOut4and5_OSSD = 0
-configOut6and7_OSSD = 0
+[WorkpieceConfiguration]
+toolSpheres = [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0]]
+toolSphereNames = [Tool Flange, DISABLED, DISABLED]
+toolSphereIDs = [null, 05cb2fa6-f92a-43e7-9f8f-268f9eb48afd, 05cb2fa6-f92a-43e7-9f8f-268f9eb48afd]
+toolDirectionInclination = 0.0
+toolDirectionAzimuth = 0.0
 
 </SafetySettings>
+  <ToolWrenchConfiguration forceLimit="6.0" forceLimitEnabled="false" momentLimit="0.3" momentLimitEnabled="false"/>
+  <TCPSettings activePose="TCP">
+    <availablePoses>
+      <tcp id="2e4b410d-3d81-4c59-937c-087544210280" name="TCP" offset="0.0, 0.0, 0.0, 0.0, 0.0, 0.0"/>
+    </availablePoses>
+  </TCPSettings>
+  <ToolCommSettings enabled="false" toolAnalogInput2="VOLTAGE" toolAnalogInput3="VOLTAGE" baudRate="BAUD_115200" parity="NONE" stopBits="ONE" rxIdleChars="1.5" txIdleChars="3.5" toolOutputMode="OUTPUT" toolDigitalOutput0="SINKING" toolDigitalOutput1="SINKING" toolOutputVoltage="ZERO"/>
+  <EthernetIP enabled="false" programAction="IGNORE"/>
+  <DefaultProgramSettings autoLoad="false"/>
+  <SafeHomeSettings enabled="true" position="0.0, -1.5707963267948966, 0.0, -1.5707963267948966, 0.0, 0.0"/>
+  <Profinet enabled="false" PLCIO="IGNORE" PLCREG1="IGNORE" PLCREG2="IGNORE"/>
+  <ContinuousPulse/>
+  <MotionSettingsConfiguration motionVersion="UNDEFINED"/>
+  <ResourceControlSettings/>
+  <PayloadSettings>
+    <Payload name="Payload" mass="0.0" defaultPayload="true" centerOfGravity="0.0, 0.0, 0.0" inertiaParameters="0.0, 0.0, 0.0, 0.0, 0.0, 0.0" customInertiaEnabled="false"/>
+  </PayloadSettings>
+  <SmoothTransitionSettings transitionHardness="SOFT"/>
   <Contributions>
     <URCaps>
-      <Contributed ownerId="com.ur.urcap.conveyortracking" id="ConveyorTracking" installationContributionTitle="com.ur.urcap.conveyortracking" vendor="Universal Robots" name="Conveyor Tracking"/>
-      <Contributed ownerId="com.ur.urcap.ethernetip" id="EthernetIP" installationContributionTitle="com.ur.urcap.ethernetip" vendor="Universal Robots" name="Ethernet/IP"/>
-      <Contributed ownerId="com.ur.urcap.profinet" id="com.ur.urcap.profinet" installationContributionTitle="com.ur.urcap.profinet" vendor="Universal Robots" name="Profinet"/>
-      <Contributed ownerId="com.fzi.externalcontrol" id="com.fzi.externalcontrol.impl.ExternalControlInstallationNodeService" installationContributionTitle="com.fzi.externalcontrol" vendor="FZI Research Center for Information Technology" name="External Control">
-        <data key="host_ip" value="127.0.0.1"/>
-        <data key="name" value="127.0.0.1"/>
+      <Contributed ownerId="com.ur.urcap.conveyortracking" id="ConveyorTracking" installationContributionTitle="Conveyor Tracking" vendor="Universal Robots" name="Conveyor Tracking"/>
+      <Contributed ownerId="com.fzi.externalcontrol" id="com.fzi.externalcontrol.impl.ExternalControlInstallationNodeService" installationContributionTitle="External Control" vendor="FZI Research Center for Information Technology" name="External Control">
+        <data key="name" value="192.168.56.1"/>
+        <data key="host_ip" value="192.168.56.1"/>
       </Contributed>
-      <Contributed ownerId="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" id="com.ur.polyscope.screwdriving.installation.ScrewdrivingInstallationNodeService" installationContributionTitle="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" vendor="Universal Robots" name="polyscope-screwdriving-impl"/>
+      <Contributed ownerId="com.ur.polyscope.screwdriving.polyscope-screwdriving-impl" id="com.ur.polyscope.screwdriving.installation.ScrewdrivingInstallationNodeService" installationContributionTitle="Screwdriving" vendor="Universal Robots" name="polyscope-screwdriving-impl"/>
     </URCaps>
   </Contributions>
 </Installation>
\ No newline at end of file
diff --git a/.github/dockerursim/.vol/default.variables b/.github/dockerursim/.vol/default.variables
index ddb1239..04d8bd2 100644
--- a/.github/dockerursim/.vol/default.variables
+++ b/.github/dockerursim/.vol/default.variables
@@ -1,2 +1 @@
-#
-#Fri Jun 18 10:27:46 BST 2021
+<InstallationVariables timestamp="Mon Dec 01 17:44:59 CET 2025"/>
\ No newline at end of file
diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 74460fe..e3fa083 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -40,14 +40,18 @@ jobs:
           mvn install
         env:
           SDK_VERSION: ${{ matrix.SDK_VERSION }}
+      - run: docker network create --subnet=192.168.56.0/24 ursim_net
       - name: start ursim
         run: |
-          docker run --rm -d -p 29999:29999 -p 30001-30004:30001-30004 -v ${PROGRAM_FOLDER}:/ursim/programs -v ${URCAPS_FOLDER}:/urcaps --name ursim universalrobots/ursim_e-series:latest
-          docker container inspect ursim
+          docker run --rm -d \
+          -p 29999:29999 \
+          -p 30001-30004:30001-30004 \
+          -v ${PROGRAM_FOLDER}:/ursim/programs \
+          -v ${URCAPS_FOLDER}:/urcaps \
+          --net ursim_net --ip 192.168.56.101 \
+          --name ursim \
+          universalrobots/ursim_e-series:latest
         env:
-          #DOCKER_RUN_OPTS: --network ursim_net
-          #ROBOT_MODEL: ${{matrix.env.ROBOT_MODEL}}
-          #URSIM_VERSION: ${{matrix.env.URSIM_VERSION}}
           PROGRAM_FOLDER: ./.github/dockerursim/.vol
           URCAPS_FOLDER: ./target
       - name: Install netcat

From 68a3af46bf96a1c5a2d79512d756321817e95fdd Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Mon, 1 Dec 2025 17:48:35 +0100
Subject: [PATCH 21/21] Remove custom action

---
 .github/actions/build_urcap/Dockerfile    | 16 ----------------
 .github/actions/build_urcap/action.yml    |  6 ------
 .github/actions/build_urcap/entrypoint.sh | 23 -----------------------
 3 files changed, 45 deletions(-)
 delete mode 100644 .github/actions/build_urcap/Dockerfile
 delete mode 100644 .github/actions/build_urcap/action.yml
 delete mode 100755 .github/actions/build_urcap/entrypoint.sh

diff --git a/.github/actions/build_urcap/Dockerfile b/.github/actions/build_urcap/Dockerfile
deleted file mode 100644
index c95a53d..0000000
--- a/.github/actions/build_urcap/Dockerfile
+++ /dev/null
@@ -1,16 +0,0 @@
-# Container image that runs your code
-FROM ubuntu:noble
-
-# Copies your code file from your action repository to the filesystem path `/` of the container
-COPY entrypoint.sh /entrypoint.sh
-
-RUN apt-get update && apt-get install -y \
- default-jdk\
- maven\
- unzip\
- dialog\
- sshpass\
- curl
-
-# Code file to execute when the docker container starts up (`entrypoint.sh`)
-ENTRYPOINT ["/entrypoint.sh"]
diff --git a/.github/actions/build_urcap/action.yml b/.github/actions/build_urcap/action.yml
deleted file mode 100644
index b6dbda0..0000000
--- a/.github/actions/build_urcap/action.yml
+++ /dev/null
@@ -1,6 +0,0 @@
-# action.yml
-name: 'Build URCap'
-description: 'Builds a URCap in a container'
-runs:
-  using: 'docker'
-  image: 'Dockerfile'
diff --git a/.github/actions/build_urcap/entrypoint.sh b/.github/actions/build_urcap/entrypoint.sh
deleted file mode 100755
index fda26fe..0000000
--- a/.github/actions/build_urcap/entrypoint.sh
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/bin/bash
-
-set -e
-
-SDK_MAJOR=$(echo ${SDK_VERSION} | awk -F. '{print $1}')
-SDK_MINOR=$(echo ${SDK_VERSION} | awk -F. '{print $2}')
-SDK_BUILD=$(echo ${SDK_VERSION} | awk -F. '{print $3}')
-
-download_folder=$(mktemp -d)
-pushd ${download_folder}
-curl -o sdk-${SDK_VERSION}.zip https://s3-eu-west-1.amazonaws.com/urplus-developer-site/sdk/sdk-${SDK_VERSION}.zip
-mkdir sdk
-unzip -q sdk-${SDK_VERSION}.zip -d sdk
-if [ "$SDK_MAJOR" -eq 1 ] && [ "$SDK_MINOR" -eq 10 ]; then
-  cd sdk/URCap_SDK-${SDK_VERSION}
-else
-  cd sdk
-fi
-./install.sh
-
-popd
-
-mvn install