fa466b3cc9
- Fix version mismatch in __init__.py - Add numpy as a required install in setup.py since it is used directly in the library - Make the pip install command more noticeable
127 lines
3.6 KiB
Markdown
127 lines
3.6 KiB
Markdown
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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.
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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.
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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.
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urx was primarily developed by [Olivier Roulet-Dubonnet](https://github.com/oroulet) for [Sintef Raufoss Manufacturing](http://www.sintef.no/manufacturing/).
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# Install
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The easiest is probably to use pip:
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```
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pip install urx
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```
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# Example use:
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```python
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import urx
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rob = urx.Robot("192.168.0.100")
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rob.set_tcp((0, 0, 0.1, 0, 0, 0))
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rob.set_payload(2, (0, 0, 0.1))
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sleep(0.2) #leave some time to robot to process the setup commands
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rob.movej((1, 2, 3, 4, 5, 6), a, v)
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rob.movel((x, y, z, rx, ry, rz), a, v)
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print "Current tool pose is: ", rob.getl()
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rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true) # move relative to current pose
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rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
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rob.stopj(a)
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robot.movel(x, y, z, rx, ry, rz), wait=False)
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while True :
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sleep(0.1) #sleep first since the robot may not have processed the command yet
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if robot.is_program_running():
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break
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robot.movel(x, y, z, rx, ry, rz), wait=False)
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while.robot.getForce() < 50:
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sleep(0.01)
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if not robot.is_program_running():
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break
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robot.stopl()
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try:
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robot.movel((0,0,0.1,0,0,0), relative=True)
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except RobotError, ex:
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print("Robot could not execute move (emergency stop for example), do something", ex)
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```
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# Development using Transform objects from math3d library:
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```python
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from urx import Robot
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import math3d as m3d
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robot = Robot("192.168.1.1")
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mytcp = m3d.Transform() # create a matrix for our tool tcp
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mytcp.pos.z = 0.18
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mytcp.orient.rotate_zb(pi/3)
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robot.set_tcp(mytcp)
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time.sleep(0.2)
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# get current pose, transform it and move robot to new pose
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trans = robot.get_pose() # get current transformation matrix (tool to base)
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trans.pos.z += 0.3
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trans.orient.rotate_yb(pi/2)
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robot.set_pose(trans, acc=0.5, vel=0.2) # apply the new pose
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#or only work with orientation part
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o = robot.get_orientation()
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o.rotate_yb(pi)
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robot.set_orientation(o)
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```
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# Other interactive methods/properties
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```python
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from urx import Robot
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rob = Robot("192.168.1.1")
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rob.x # returns current x
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rob.rx # returns 0 (could return x component of axis vector, but it is not very usefull
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rob.rx -= 0.1 # rotate tool around X axis
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rob.z_t += 0.01 # move robot in tool z axis for +1cm
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csys = rob.new_csys_from_xpy() # generate a new csys from 3 points: X, origin, Y
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rob.set_csys(csys)
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```
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# Robotiq Gripper
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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).
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## Example use:
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```python
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import sys
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import urx
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from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
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if __name__ == '__main__':
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rob = urx.Robot("192.168.0.100")
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robotiqgrip = Robotiq_Two_Finger_Gripper()
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if(len(sys.argv) != 2):
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print "false"
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sys.exit()
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if(sys.argv[1] == "close") :
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robotiqgrip.close_gripper()
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if(sys.argv[1] == "open") :
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robotiqgrip.open_gripper()
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rob.send_program(robotiqgrip.ret_program_to_run())
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rob.close()
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print "true"
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sys.exit()
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```
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