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https://github.com/SintefManufacturing/python-urx

Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/
https://github.com/SintefManufacturing/python-urx

Last synced: 29 days ago
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Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/

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README 

        
urx is a python library to control the robots from [Universal Robots](https://www.universal-robots.com/). It is published under the LGPL license and comes with absolutely no guarantee.



It is meant as an easy to use module for pick and place operations, although it has been used for welding and other sensor based applications that do not require high control frequency.



Both the 'secondary port' interface and the real-time/matlab interface of the UR controller are used. urx can optionally use the [python-math3d](https://github.com/mortlind/pymath3d)(GPL) library to receive and send transformation matrices to the robot urx is known to work with all release robots from Universal Robot.



urx was primarily developed by [Olivier Roulet-Dubonnet](https://github.com/oroulet) for [Sintef Raufoss Manufacturing](http://www.sintef.no/manufacturing/).



# Install



The easiest is probably to use pip:

```

pip install urx

```



# Example use:



```python

import urx



rob = urx.Robot("192.168.0.100")

rob.set_tcp((0, 0, 0.1, 0, 0, 0))

rob.set_payload(2, (0, 0, 0.1))

sleep(0.2)  #leave some time to robot to process the setup commands

rob.movej((1, 2, 3, 4, 5, 6), a, v)

rob.movel((x, y, z, rx, ry, rz), a, v)

print "Current tool pose is: ",  rob.getl()

rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)  # move relative to current pose

rob.translate((0.1, 0, 0), a, v)  #move tool and keep orientation

rob.stopj(a)



rob.movel(x, y, z, rx, ry, rz), wait=False)

while True :

    sleep(0.1)  #sleep first since the robot may not have processed the command yet

    if rob.is_program_running():

        break



rob.movel(x, y, z, rx, ry, rz), wait=False)

while rob.getForce() < 50:

    sleep(0.01)

    if not rob.is_program_running():

        break

rob.stopl()



try:

    rob.movel((0,0,0.1,0,0,0), relative=True)

except RobotError, ex:

    print("Robot could not execute move (emergency stop for example), do something", ex)

```



# Development using Transform objects from math3d library:



```python

from urx import Robot

import math3d as m3d



robot = Robot("192.168.1.1")

mytcp = m3d.Transform()  # create a matrix for our tool tcp

mytcp.pos.z = 0.18

mytcp.orient.rotate_zb(pi/3)

robot.set_tcp(mytcp)

time.sleep(0.2)



# get current pose, transform it and move robot to new pose

trans = robot.get_pose()  # get current transformation matrix (tool to base)

trans.pos.z += 0.3

trans.orient.rotate_yb(pi/2)

robot.set_pose(trans, acc=0.5, vel=0.2)  # apply the new pose



#or only work with orientation part

o = robot.get_orientation()

o.rotate_yb(pi)

robot.set_orientation(o)

```



# Other interactive methods/properties



```python



from urx import Robot

rob = Robot("192.168.1.1")

rob.x  # returns current x

rob.rx  # returns 0 (could return x component of axis vector, but it is not very usefull

rob.rx -= 0.1  # rotate tool around X axis

rob.z_t += 0.01  # move robot in tool z axis for +1cm



csys = rob.new_csys_from_xpy() #  generate a new csys from 3 points: X, origin, Y

rob.set_csys(csys)

```



# Robotiq Gripper



urx can also control a Robotiq gripper attached to the UR robot.  The robotiq class was primarily developed by [Mark Silliman](https://github.com/markwsilliman).



## Example use:



```python

import sys

import urx

from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper



if __name__ == '__main__':

	rob = urx.Robot("192.168.0.100")

	robotiqgrip = Robotiq_Two_Finger_Gripper()



	if(len(sys.argv) != 2):

		print "false"

		sys.exit()



	if(sys.argv[1] == "close") :

		robotiqgrip.close_gripper()

	if(sys.argv[1] == "open") :

		robotiqgrip.open_gripper()



	rob.send_program(robotiqgrip.ret_program_to_run())



	rob.close()

	print "true"

	sys.exit()

```