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nUR MCP Server

by nonead
urScriptExt.cpython-312.pyc37.1 kB
� #0hK|��|�dZdZdZdZddlZddlZddlZddlm cm Z Gd�dejj�Zy)ao Python 3.x library to control an UR robot through its TCP/IP interfaces Copyright (C) 2017 Martin Huus Bjerge, Rope Robotics ApS, Denmark Permission is hereby granted, free of charge, to any person obtaining a copy of this softzerware and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL "Rope Robotics ApS" BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used in advertising or otherwise to promote the sale, use or other dealings in this Software without prior written authorization from "Rope Robotics ApS". zMartin Huus Bjergez*Copyright 2017, Rope Robotics ApS, Denmarkz MIT License�Nc ����eZdZdZd�fd� Zd�Zd�Zd d�Zd�Zgd�d fd �Z gd�gd �gd�gd �d fd e fd�Z ddgd�dgd�gd �gd�gd �d f d�Z ddddddgd�gd �gd�gd �d ddf d�Z d�Zd�Zd!d�Zd�Zd�Z�xZS)"� UrScriptExta� Interface to remote access UR script commands, and add some extended features as well. For more details see the script manual at this site: http://www.universal-robots.com/download/ Beside the implementation of the script interface, this class also inherits from the Real Time Client and RTDE interface and thereby also open a connection to these data interfaces. The Real Time Client in this version is only used to send program and script commands to the robot, not to read data from the robot, all data reading is done via the RTDE interface. This class also opens a connection to the UR Dashboard server and enables you to e.g. reset error and warnings from the UR controller. The constructor takes a UR robot hostname as input, and a RTDE configuration file, and optional a logger object. Input parameters: host (string): hostname or IP of UR Robot (RT CLient server) rtde_conf_filename (string): Path to xml file describing what channels to activate Example: rob = URBasic.urScriptExt.UrScriptExt('192.168.56.101', rtde_conf_filename='rtde_configuration.xml') self.close_rtc() c�v��|�ytt|� |||�|j�|j �y�N)�superr�__init__�print_actual_tcp_pose�print_actual_joint_positions)�self�host� robotModel�hasForceTorque� __class__s ��UD:\mcp\Nonead-Universal-Robots-MCP\Nonead-Universal-Robots-MCP\URBasic\urScriptExt.pyrzUrScriptExt.__init__<s8��� �<� � �k�4�)�$� �N�K� �"�"�$� �)�)�+�c�x�|j�|j�|jj�yr)r r �robotConnector�close�r s rrzUrScriptExt.closeGs,�� �"�"�$� �)�)�+� ���!�!�#rc��|jjj�js�|jjj �|jjj �|jjj�|jjj �tjd�|jjj�jr�|jjj�|jjj �|jjj�|jjj �|jjj�|jjj �tjd�|jjj�j|jjj�j zS)a+ Check if the UR controller is powered on and ready to run. If controller isn't power on it will be power up. If there is a safety error, it will be tried rest it once. Return Value: state (boolean): True of power is on and no safety errors active. �)r� RobotModel� RobotStatus�PowerOn�DashboardClient� ur_power_on�wait_dbs�ur_brake_release�time�sleep� SafetyStatus�StoppedDueToSafety�ur_unlock_protective_stop�ur_close_safety_popuprs r� reset_errorzUrScriptExt.reset_errorLs����"�"�-�-�9�9�;�C�C� � � � /� /� ;� ;� =� � � � /� /� 8� 8� :� � � � /� /� @� @� B� � � � /� /� 8� 8� :� �J�J�q�M� � � � )� )� 6� 6� 8� K� K� � � � /� /� I� I� K� � � � /� /� 8� 8� :� � � � /� /� E� E� G� � � � /� /� 8� 8� :� � � � /� /� @� @� B� � � � /� /� 8� 8� :� �J�J�q�M��"�"�-�-�9�9�;�C�C��#�#�.�.�;�;�=�P�P� P�R� RrTc���d|ddk(r|jt|dd�|�Sd|ddk(r|jt|dd�|�Sd|ddk(r|jt|dd�|�Sy)a Get input signal level Parameters: port (HW profile str): Hardware profile tag wait (bool): True if wait for next RTDE sample, False, to get the latest sample Return Value: out (bool or float), The signal level. �BCIN���BDI�BAI)�get_configurable_digital_in�int�get_standard_digital_in�get_standard_analog_in)r �port�waits r�get_inzUrScriptExt.get_inos��� �D��!�H� ��3�3�C��Q�R��M�4�H� H� �d�2�A�h� ��/�/��D���H� �t�D� D� �d�2�A�h� ��.�.�s�4���8�}�d�C� C�rc���d|ddk(r|jt|dd�|�yd|ddk(r|jt|dd�|�yd|ddk(ryd|ddk(r yy ) a Get output signal level Parameters: port (HW profile str): Hardware profile tag value (bool or float): The output value to be set Return Value: Status (bool): Status, True if signal set successfully. �BCONr(r)�BDO�BAO�TDOTF)�set_configurable_digital_outr-�set_standard_digital_out)r r0�values r� set_outputzUrScriptExt.set_output�s~�� �D��!�H� � � -� -�c�$�q�r�(�m�U� C� �d�2�A�h� � � )� )�#�d�1�2�h�-�� ?� �d�2�A�h� � � �d�2�A�h� � ��r��r=r=r=r=r=rc�^ �|jjj�sygd�}gd�}gd�}|jjjd|d�|jjjd|d�|jjjd |d �|jjjd |d �|jjjd |d�|jjjd|d�|jjjd|d�|jjjd|d�|jjjd|d �|jjjd|d �|jjjd|d�|jjjd|d�|jjjd|d�|jjjd|d�|jjjd|d �|jjjd|d �|jjjd|d�|jjjd|d�|jjjd|d�|jjjd|d�|jjjd|d �|jjjd |d �|jjjd!|d�|jjjd"|d�|jjjd#|�|jjj �d$}|jj j |jd'it����d%|jj_ y&)(a� The Force Remote function enables changing the force settings dynamically, without sending new programs to the robot, and thereby exit and enter force mode again. As the new settings are send via RTDE, the force can be updated every 8ms. This function initializes the remote force function, by sending a program to the robot that can receive new force settings. See "force_mode" for more details on force functions Parameters: task_frame (6D-vector): Initial task frame (can be changed via the update function) f_type (int): Initial force type (can be changed via the update function) Return Value: Status (bool): Status, True if successfully initialized. F�rrrrrrr<�皙�����?rArArArArA�input_int_register_0r�input_int_register_1��input_int_register_2r�input_int_register_3r(�input_int_register_4r)�input_int_register_5��input_double_register_0�input_double_register_1�input_double_register_2�input_double_register_3�input_double_register_4�input_double_register_5�input_double_register_6�input_double_register_7�input_double_register_8�input_double_register_9�input_double_register_10�input_double_register_11�input_double_register_12�input_double_register_13�input_double_register_14�input_double_register_15�input_double_register_16�input_double_register_17�input_int_register_6ardef force_remote(): while (True): global task_frame = p[read_input_float_register(12), read_input_float_register(13), read_input_float_register(14), read_input_float_register(15), read_input_float_register(16), read_input_float_register(17)] global selection_vector = [ read_input_integer_register(0), read_input_integer_register(1), read_input_integer_register(2), read_input_integer_register(3), read_input_integer_register(4), read_input_integer_register(5)] global wrench = [ read_input_float_register(0), read_input_float_register(1), read_input_float_register(2), read_input_float_register(3), read_input_float_register(4), read_input_float_register(5)] global limits = [ read_input_float_register(6), read_input_float_register(7), read_input_float_register(8), read_input_float_register(9), read_input_float_register(10), read_input_float_register(11)] global f_type = read_input_integer_register(6) force_mode(task_frame, selection_vector, wrench, f_type , limits) sync() end end TN�) r�RTDE� isRunning�setData�sendData�RealTimeClient� SendProgram�format�localsr�forceRemoteActiveFlag)r � task_frame�f_type�selection_vector�wrench�limits�progs r�init_force_remotezUrScriptExt.init_force_remote�s���$�"�"�'�'�1�1�3��-��/��/�� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)?�AQ�RS�AT�U� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)B�F�1�I�N� ��� � �(�(�)C�V�A�Y�O� ��� � �(�(�)C�V�A�Y�O� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)C�Z�PQ�]�S� ��� � �(�(�)?��H� ��� � �)�)�+�&��N ���*�*�6�6�{�t�{�{�7N�V�X�7N�O�?C����&�&�<rr?r@�returnc� �|jjjs|j||�|jjj ��rD|jjj�r#|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d |d �|jjj d |d �|jjj d |d�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d �|jjj d|d �|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d �|jjj d|d �|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d �|jjj d|d �|jjj d|�|jjj�y |jjjs td!�y#td"�y#)$a� Update/set remote force, see "init_force_remote" for more details. Parameters: task frame: A pose vector that defines the force frame relative to the base frame. selection vector: A 6d vector that may only contain 0 or 1. 1 means that the robot will be compliant in the corresponding axis of the task frame, 0 means the robot is not compliant along/about that axis. wrench: The forces/torques the robot is to apply to its environment. These values have different meanings whether they correspond to a compliant axis or not. Compliant axis: The robot will adjust its position along/about the axis in order to achieve the specified force/torque. Non-compliant axis: The robot follows the trajectory of the program but will account for an external force/torque of the specified value. limits: A 6d vector with float values that are interpreted differently for compliant/non-compliant axes: Compliant axes: The limit values for compliant axes are the maximum allowed tcp speed along/about the axis. Non-compliant axes: The limit values for non-compliant axes are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program. f_type: An integer specifying how the robot interprets the force frame. 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot tcp towards the origin of the force frame. 2: The force frame is not transformed. 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector onto the x-y plane of the force frame. All other values of f_type are invalid. Return Value: Status (bool): Status, True if parameters successfully updated. rBrrCrDrErrFr(rGr)rHrIrJrKrLrMrNrOrPrQrRrSrTrUrVrWrXrYrZr[r\TzForce Remote not initialized�RTDE is not runningF) rrrfrmr^r_r`ra�print)r rgrirjrkrhs r�set_force_remotezUrScriptExt.set_force_remotes���N�"�"�-�-�C�C� � "� "�:�v� 6� � � � #� #� -� -� /�D�4G�4G�4R�4R�4h�4h� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-C�EU�VW�EX� Y� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-F��q� � R� � � � $� $� ,� ,�-G��PQ�� S� � � � $� $� ,� ,�-G��PQ�� S� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-G��TU�� W� � � � $� $� ,� ,�-C�V� L� � � � $� $� -� -� /���&�&�1�1�G�G��4�5���+�,�rg{�G�z�?)��?rsrsrsrsrs� c ��d|z} tj|�}tj|�}|j||||| �tjtd�t�} | j d�d} |j �tj|�z} tj| �|kr�| | kr�|j �tj|�z}||z}|j||||| �tjtj|| z ��| tj| d�<|} | dz } tj| �|kr| | kr��| | kr�| j |�d} tj| �|kDr�| | kr�|j �tj|�z}tjtj|| z ��| tj| d�<|} | dz } tj| �|kDr| | kr��|j||gd�|| �|j�| | k\ryy) aA Move force will set the robot in force mode (see force_mode) and move the TCP until it meets an object making the TCP stand still. Parameters: start_tolerance (float): sum of all elements in a pose vector defining a robot has started moving (60 samples) stop_tolerance (float): sum of all elements in a pose vector defining a standing still robot (60 samples) wrench_gain (6D vector): Gain multiplied with wrench each 8ms sample timeout (float): Seconds to timeout if tolerance not reached task frame: A pose vector that defines the force frame relative to the base frame. selection vector: A 6d vector that may only contain 0 or 1. 1 means that the robot will be compliant in the corresponding axis of the task frame, 0 means the robot is not compliant along/about that axis. wrench: The forces/torques the robot is to apply to its environment. These values have different meanings whether they correspond to a compliant axis or not. Compliant axis: The robot will adjust its position along/about the axis in order to achieve the specified force/torque. Non-compliant axis: The robot follows the trajectory of the program but will account for an external force/torque of the specified value. limits: A 6d vector with float values that are interpreted differently for compliant/non-compliant axes: Compliant axes: The limit values for compliant axes are the maximum allowed tcp speed along/about the axis. Non-compliant axes: The limit values for non-compliant axes are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program. f_type: An integer specifying how the robot interprets the force frame. 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot tcp towards the origin of the force frame. 2: The force frame is not transformed. 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector onto the x-y plane of the force frame. All other values of f_type are invalid. Return Value: Status (bool): Status, True if signal set successfully. �}�<r=rrDr?FT) �np�arrayrr�range�float�fill�get_actual_tcp_pose�sum�abs�mod�end_force_mode)r �start_tolerance�stop_tolerance� wrench_gain�timeoutrgrirjrkrh� timeoutcnt�dist�cnt�old_pose�new_poses r�move_force_2stopzUrScriptExt.move_force_2stophs��n�7�]� ����&�!���h�h�{�+� � ���j�*:�F�F�F�S��x�x��b� �5�)�� � � �"� ����+�+�-����9I�0J�J���f�f�T�l�_�,��z�1A��/�/�1�B�H�H�=M�4N�N�H��k�)�F� � !� !�*�.>���PV� W�$&�F�F�2�6�6�(�X�2E�+F�$G�D�����R�� !��H� �1�H�C� �f�f�T�l�_�,��z�1A� �� � �I�I�n� %��C��&�&��,��/�C�*�4D��3�3�5����AQ�8R�R��(*���r�v�v�h��6I�/J�(K��R�V�V�C��_�%�#���q��� �&�&��,��/�C�*�4D� ���j�*:�<N�PV�X^�_� ���� �*� ��rNg333333�?g�?rr=�lc ���tj|�}tj|j�dk(�r6d}d}|�d}| }tj|�}|dk(s|dk(rdjdit ���}d}t tj|d ��D]�}tj||d �}|j�}tj||d �}|j�}tj|d �d z |k(rd }|d jdit ���z }|d jdit ���z }��|djdit ���z }|dz }n*d}|j�}|j||||||| | �}|jjj|jdit ����| r|j�yy)a� Concatenate several move commands and applies a blending radius pose or q is a list of pose or joint-pose, and apply a force in a direction Parameters: pose: list of target pose (pose can also be specified as joint positions, then forward kinematics is used to calculate the corresponding pose see q) a: tool acceleration [m/s^2] v: tool speed [m/s] t: time [S] r: blend radius [m] movetype: (str): 'j', 'l', 'p', 'c' task frame: A pose vector that defines the force frame relative to the base frame. selection vector: A 6d vector that may only contain 0 or 1. 1 means that the robot will be compliant in the corresponding axis of the task frame, 0 means the robot is not compliant along/about that axis. wrench: The forces/torques the robot is to apply to its environment. These values have different meanings whether they correspond to a compliant axis or not. Compliant axis: The robot will adjust its position along/about the axis in order to achieve the specified force/torque. Non-compliant axis: The robot follows the trajectory of the program but will account for an external force/torque of the specified value. limits: A 6d vector with float values that are interpreted differently for compliant/non-compliant axes: Compliant axes: The limit values for compliant axes are the maximum allowed tcp speed along/about the axis. Non-compliant axes: The limit values for non-compliant axes are the maximum allowed deviation along/about an axis between the actual tcp position and the one set by the program. f_type: An integer specifying how the robot interprets the force frame. 1: The force frame is transformed in a way such that its y-axis is aligned with a vector pointing from the robot tcp towards the origin of the force frame. 2: The force frame is not transformed. 3: The force frame is transformed in a way such that its x-axis is the projection of the robot tcp velocity vector onto the x-y plane of the force frame. All other values of f_type are invalid. wait: function return when movement is finished q: list of target joint positions Return Value: Status (bool): Status, True if signal set successfully. r�p�N�jr�zt={t},zdef move_force(): rr)rDzQ force_mode(p{task_framex}, {selection_vector}, {wrench}, {f_type}, {limits}) zA move{movetype}({prefix}{posex}, a={a}, v={v}, {t_val} r={r}) z stopl({a}) z end_force_mode() end z�def move_force(): force_mode(p{task_frame}, {selection_vector}, {wrench}, {f_type}, {limits}) {movestr} end_force_mode() end r])rxry�size�shaperdrerz�round�tolist�_moverrbrc�waitRobotIdleOrStopFlag)r �pose�a�v�t�r�movetypergrirjrkrhr1�q�prefix�t_val�tval�prg�idx�posex� task_framex�movestrs r� move_forcezUrScriptExt.move_force�s���L�X�X�j�)� � �7�7�:�#�#� $�� )��F��E��|������8�8�D�>�D��3��(�c�/�&�x���2���2��'�C��R�W�W�T�1�-�.������c��A�.��� � ��� �h�h�z�#���:� �)�0�0�2� ��G�G�D�!�$�q�(�S�0��A��r�k�r�r� ��h� � ���b�[�b�b�n�ek�em�n�n��/� �,�%�,�,�8�v�x�8� 8�C� �0� 0�C��C� $�*�*�,�J��j�j��4��A�q�!�T�1�E�G� ���*�*�6�6�z�s�z�z�7M�F�H�7M�N� � � (� (� *� rc�B�|j|j��y)�+ print the actual TCP pose N)� print_poser}rs rr z!UrScriptExt.print_actual_tcp_pose/s�� ����0�0�2�3rc�D�|j|j���y)r�)r�N)r��get_actual_joint_positionsrs rr z(UrScriptExt.print_actual_joint_positions5s�� ���$�9�9�;��<rc�j�|�tdj|��ytdj|��y)z print a pose NzPRobot Pose: [{: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}]z[Robot joint positions: [{: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}, {: 06.4f}])rqrd)r r�r�s rr�zUrScriptExt.print_pose;s=�� �9� �k�d�k�k�mq�r� s� �v�o�v�v��� rc���|jjj�sygd�}d}d}d}d}d}|jjjd|d�|jjjd|d �|jjjd |d �|jjjd |d �|jjjd|d�|jjjd|d�|jjjd|�|jjjd|�|jjjd|�|jjjd|�|jjjd|�|jjj �d}|jj j |jdit����d|jj_ y)zD Servoj initialization by Daniel Stankowski F)r=g��Q��?g��Q���rrg��Q� @rAi,g����Mb`?rJrrKrDrLrrMr(rNr)rOrIrPrQrRrSrBa�def sevoj_remote(): while (True): global joint = [read_input_float_register(0), read_input_float_register(1), read_input_float_register(2), read_input_float_register(3), read_input_float_register(4), read_input_float_register(5)] global v = read_input_float_register(6) global a = read_input_float_register(7) global t = read_input_float_register(8) global lookahead_time = read_input_float_register(9) global gain = read_input_integer_register(0) servoj(joint, v, a, t, lookahead_time, gain) sync() end end TNr]) rr^r_r`rarbrcrdrer�servojRemoteActiveFlag)r � init_joint� init_velocity�init_acc� init_gain�init_t�init_lookaheadrls r�init_servoj_remotezUrScriptExt.init_servoj_remoteEs��� �"�"�'�'�1�1�3��3� �� ���� ����� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�J�q�M�R� ��� � �(�(�)B�M�R� ��� � �(�(�)B�H�M� ��� � �(�(�)B�F�K� ��� � �(�(�)B�N�S� ��� � �(�(�)?��K� ��� � �)�)�+���. ���*�*�6�6�{�t�{�{�7N�V�X�7N�O�@D����&�&�=rc��|jjjs|j�|jjj ��r�|jjj�r�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d|d�|jjj d |d �|jjj d |d �|jjj d |�|jjj d|�|jjj d|�|jjj d|�|jjj d|�|jjj�y|jjjs td�ytd�y)z Blablalbal rJrrKrDrLrrMr(rNr)rOrIrPrQrRrSrBTzServoj Remote not initializedrpF) rrr�r�r^r_r`rarq)r �joint�vel�accr��lookahead_time�gains r�set_servoj_remotezUrScriptExt.set_servoj_remote�s��� �"�"�-�-�D�D� � #� #� %� � � � #� #� -� -� /�D�4G�4G�4R�4R�4i�4i� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F��a�� Q� � � � $� $� ,� ,�-F�� L� � � � $� $� ,� ,�-F�� L� � � � $� $� ,� ,�-F�� J� � � � $� $� ,� ,�-F�� W� � � � $� $� ,� ,�-C�T� J� � � � $� $� -� -� /���&�&�1�1�H�H��5�6� ��+�,�r)F)T)NN)�__name__� __module__� __qualname__�__doc__rrr%r2r;rm�objectrrr�r�r r r�r�r�� __classcell__)rs@rrr"s�����2,�$� !R�FD�$�^,J�RS�aD�F+I�[m� >�Ge� !�S�&,�S�j04�(,�%C�!#�$B�*<� >� >� !�W�r#������<�$6�8�8����l+�\4� =� �;E�z rr)r�� __author__� __copyright__� __license__�URBasic�numpyrxr�xml.etree.ElementTree�etree� ElementTree�ET�urScript�UrScriptrr]rr�<module>r�sD���."� �<� �� ��� �"�"�@ �'�"�"�+�+�@ r

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