ur-rtde

import rtde_control import rtde_receive import rtde_io import time # Replace with your robot's IP address ROBOT_IP = os.environ.get('UR_ROBOT_IP', '192.168.1.10') try: # Initialize RTDE interfaces rtde_r = rtde_receive.RTDEReceiveInterface(ROBOT_IP) rtde_c = rtde_control.RTDEControlInterface(ROBOT_IP) rtde_io_ = rtde_io.RTDEIOInterface(ROBOT_IP) if not rtde_r.isConnected(): print(f"Could not connect to RTDE Receive interface at {ROBOT_IP}") exit() if not rtde_c.isConnected(): print(f"Could not connect to RTDE Control interface at {ROBOT_IP}") exit() print("Successfully connected to the robot.") # Start synchronization rtde_r.startFileSynchronization("") # No recipe file for quickstart, use default rtde_c.sendStart() # Example: Read a robot state (joint positions) print(f"Current Joint Positions: {rtde_r.getActualQ()}") # Example: Send a simple move command (blocking) # NOTE: Ensure the robot is in 'Remote Control' mode and 'External Control' URCap is running on the robot. # This example assumes the robot is ready to receive commands. # Make sure this move is safe for your robot setup. # target_q = [-1.5, -1.8, 1.8, -1.8, -1.5, 0.0] # Example joint configuration in radians # if rtde_c.moveJ(target_q, 0.5, 0.3): # speed, acceleration # print("Robot moved to target joint configuration.") # else: # print("Failed to move robot.") # Example: Set a digital output # rtde_io_.setStandardDigitalOut(0, True) # print("Set digital output 0 to True") # time.sleep(1) # rtde_io_.setStandardDigitalOut(0, False) # print("Set digital output 0 to False") finally: # Stop RTDE communication and disconnect if 'rtde_c' in locals() and rtde_c.isConnected(): rtde_c.sendPause() rtde_c.disconnect() print("Disconnected RTDE Control Interface.") if 'rtde_r' in locals() and rtde_r.isConnected(): rtde_r.disconnect() print("Disconnected RTDE Receive Interface.")