urx is a python library to control a robot from 'Universal robot'. It is published under the GPL license and comes with absolutely no guarantee, althoug it has been used in many application with several version of UR5 and UR10 robots.

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 update rate.

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://launchpad.net/pymath3d 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 for Sintef Raufoss Manufacturing and : http://www.sintef.no/manufacturing/

#Example use:

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)) 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)

robot.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 robot.is_program_running(): break

robot.movel(x, y, z, rx, ry, rz), wait=False) while.robot.getForce() < 50: sleep(0.01) if not robot.is_program_running(): break robot.stopl()

try: robot.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:

robot = Robot("192.168.1.1") robot.set_tcp((0,0,0.23,0,0,0) robot.csys.orient.rotate_zb(pi/4) #just an example trans = robot.get_pose() # get current transformation matrix (tool to base) trans.orient.rotate_yt(pi/2) robot.set_pose(trans) trans.pos += math3d.Vector(0,0,0.3) robot.set_pose(trans)

#or only work with orientation part o = robot.get_orientation() o.rotate_yb(pi) robot.set_orientation(o)

#Robotiq Gripper

urx can also control a Robotiq gripper attached to the UR robot.

##Example use:

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()