nUR MCP Server

__author__ = "Anthony Zhuang" __copyright__ = "Copyright 2009-2025" __license__ = "MIT License" import URBasic class RobotModel(object): ''' Data class holding all data and states Input parameters: ''' def __init__(self): ''' Constructor see class description for more info. ''' # Universal Robot Model content self.password = None self.ipAddress = None self.dataDir = {'timestamp': None, 'target_q': None, 'target_qd': None, 'target_qdd': None, 'target_current': None, 'target_moment': None, 'actual_q': None, 'actual_qd': None, 'actual_current': None, 'joint_control_output': None, 'actual_TCP_pose': None, 'actual_TCP_speed': None, 'actual_TCP_force': None, 'target_TCP_pose': None, 'target_TCP_speed': None, 'actual_digital_input_bits': None, 'joint_temperatures': None, 'actual_execution_time': None, 'robot_mode': None, 'joint_mode': None, 'safety_mode': None, 'actual_tool_accelerometer': None, 'speed_scaling': None, 'target_speed_fraction': None, 'actual_momentum': None, 'actual_main_voltage': None, 'actual_robot_voltage': None, 'actual_robot_current': None, 'actual_joint_voltage': None, 'actual_digital_output_bits': None, 'runtime_state': None, 'robot_status_bits': None, 'safety_status_bits': None, 'analog_io_types': None, 'standard_analog_input0': None, 'standard_analog_input1': None, 'standard_analog_output0': None, 'standard_analog_output1': None, 'io_current': None, 'euromap67_input_bits': None, 'euromap67_output_bits': None, 'euromap67_24V_voltage': None, 'euromap67_24V_current': None, 'tool_mode': None, 'tool_analog_input_types': None, 'tool_analog_input0': None, 'tool_analog_input1': None, 'tool_output_voltage': None, 'tool_output_current': None, 'tcp_force_scalar': None, 'output_bit_registers0_to_31': None, 'output_bit_registers32_to_63': None, 'output_int_register_0': None, 'output_int_register_1': None, 'output_int_register_2': None, 'output_int_register_3': None, 'output_int_register_4': None, 'output_int_register_5': None, 'output_int_register_6': None, 'output_int_register_7': None, 'output_int_register_8': None, 'output_int_register_9': None, 'output_int_register_10': None, 'output_int_register_11': None, 'output_int_register_12': None, 'output_int_register_13': None, 'output_int_register_14': None, 'output_int_register_15': None, 'output_int_register_16': None, 'output_int_register_17': None, 'output_int_register_18': None, 'output_int_register_19': None, 'output_int_register_20': None, 'output_int_register_21': None, 'output_int_register_22': None, 'output_int_register_23': None, 'output_double_register_0': None, 'output_double_register_1': None, 'output_double_register_2': None, 'output_double_register_3': None, 'output_double_register_4': None, 'output_double_register_5': None, 'output_double_register_6': None, 'output_double_register_7': None, 'output_double_register_8': None, 'output_double_register_9': None, 'output_double_register_10': None, 'output_double_register_11': None, 'output_double_register_12': None, 'output_double_register_13': None, 'output_double_register_14': None, 'output_double_register_15': None, 'output_double_register_16': None, 'output_double_register_17': None, 'output_double_register_18': None, 'output_double_register_19': None, 'output_double_register_20': None, 'output_double_register_21': None, 'output_double_register_22': None, 'output_double_register_23': None, 'urPlus_force_torque_sensor': None, 'urPlus_totalMovedVerticalDistance': None } self.rtcConnectionState = None self.rtcProgramRunning = False self.rtcProgramExecutionError = False self.stopRunningFlag = False self.forceRemoteActiveFlag = False self.servojRemoteActiveFlag = False # modified by Daniel # UR plus content self.hasForceTorqueSensor = False self.forceTourqe = None def RobotTimestamp(self): return self.dataDir['timestamp'] def LastUpdateTimestamp(self): raise NotImplementedError('Function Not yet implemented') def RTDEConnectionState(self): raise NotImplementedError('Function Not yet implemented') def RuntimeState(self): return self.rtcProgramRunning def StopRunningFlag(self): return self.stopRunningFlag def DigitalInputbits(self, n): if n >= 0 & n < 8: n = pow(2, n) return n & self.dataDir['actual_digital_input_bits'] == n else: return None def ConfigurableInputBits(self, n): if n >= 8 & n < 16: n = pow(2, n + 8) return n & self.dataDir['actual_digital_input_bits'] == n else: return None def DigitalOutputBits(self, n): if n >= 0 & n < 8: n = pow(2, n) return n & self.dataDir['actual_digital_output_bits'] == n else: return None def ConfigurableOutputBits(self, n): if n >= 8 & n < 16: n = pow(2, n + 8) return n & self.dataDir['actual_digital_output_bits'] == n else: return None def RTDEProtocolVersion(self): raise NotImplementedError('Function Not yet implemented') def ActualTCPPose(self): return self.dataDir['actual_TCP_pose'] def RobotModee(self): raise NotImplementedError('Function Not yet implemented') def SafetyMode(self): raise NotImplementedError('Function Not yet implemented') def TargetQ(self): raise NotImplementedError('Function Not yet implemented') def TargetQD(self): raise NotImplementedError('Function Not yet implemented') def TargetQDD(self): raise NotImplementedError('Function Not yet implemented') def TargetCurrent(self): raise NotImplementedError('Function Not yet implemented') def TargetMoment(self): raise NotImplementedError('Function Not yet implemented') def ActualQ(self): return self.dataDir['actual_q'] def ActualQD(self): raise NotImplementedError('Function Not yet implemented') def ActualCurrent(self): raise NotImplementedError('Function Not yet implemented') def JointControlOutput(self): raise NotImplementedError('Function Not yet implemented') def ActualTCPSpeed(self): return self.dataDir['actual_TCP_speed'] def ActualTCPForce(self): return self.dataDir['actual_TCP_force'] def TargetTCPPose(self): raise NotImplementedError('Function Not yet implemented') def TargetTCPSpeed(self): raise NotImplementedError('Function Not yet implemented') def JointTemperatures(self): return self.dataDir['joint_temperatures'] def ActualExecutionTime(self): raise NotImplementedError('Function Not yet implemented') def JointMode(self): raise NotImplementedError('Function Not yet implemented') def ActualToolAccelerometer(self): raise NotImplementedError('Function Not yet implemented') def SpeedScaling(self): raise NotImplementedError('Function Not yet implemented') def TargetSpeedFraction(self): raise NotImplementedError('Function Not yet implemented') def ActualMomentum(self): raise NotImplementedError('Function Not yet implemented') def ActualMainVoltage(self): raise NotImplementedError('Function Not yet implemented') def ActualRobotVoltage(self): # raise NotImplementedError('Function Not yet implemented') return self.dataDir['actual_robot_voltage'] def ActualRobotCurrent(self): return self.dataDir['actual_robot_current'] def ActualJointVoltage(self): # raise NotImplementedError('Function Not yet implemented') return self.dataDir['actual_current'] def RunTimeState(self): raise NotImplementedError('Function Not yet implemented') def IoCurrent(self): raise NotImplementedError('Function Not yet implemented') def ToolAnalogInput0(self): raise NotImplementedError('Function Not yet implemented') def ToolAnalogInput1(self): raise NotImplementedError('Function Not yet implemented') def ToolOutputCurrent(self): raise NotImplementedError('Function Not yet implemented') def ToolOutputVoltage(self): raise NotImplementedError('Function Not yet implemented') def StandardAnalogInput(self, n): if n == 0: return self.dataDir['standard_analog_input0'] elif n == 1: return self.dataDir['standard_analog_input1'] else: raise KeyError('Index out of range') def StandardAnalogOutput(self): raise NotImplementedError('Function Not yet implemented') def RobotStatus(self): ''' SafetyStatusBit class defined in the bottom of this file ''' result = RobotStatusBit() result.PowerOn = 1 & self.dataDir['robot_status_bits'] == 1 result.ProgramRunning = 2 & self.dataDir['robot_status_bits'] == 2 result.TeachButtonPressed = 4 & self.dataDir['robot_status_bits'] == 4 result.PowerButtonPressed = 8 & self.dataDir['robot_status_bits'] == 8 return result def SafetyStatus(self): ''' SafetyStatusBit class defined in the bottom of this file ''' result = SafetyStatusBit() result.NormalMode = 1 & self.dataDir['safety_status_bits'] == 1 result.ReducedMode = 2 & self.dataDir['safety_status_bits'] == 2 result.ProtectiveStopped = 4 & self.dataDir['safety_status_bits'] == 4 result.RecoveryMode = 8 & self.dataDir['safety_status_bits'] == 8 result.SafeguardStopped = 16 & self.dataDir['safety_status_bits'] == 16 result.SystemEmergencyStopped = 32 & self.dataDir['safety_status_bits'] == 32 result.RobotEmergencyStopped = 64 & self.dataDir['safety_status_bits'] == 64 result.EmergencyStopped = 128 & self.dataDir['safety_status_bits'] == 128 result.Violation = 256 & self.dataDir['safety_status_bits'] == 256 result.Fault = 512 & self.dataDir['safety_status_bits'] == 512 result.StoppedDueToSafety = 1024 & self.dataDir['safety_status_bits'] == 1024 return result def TcpForceScalar(self): raise NotImplementedError('Function Not yet implemented') def OutputBitRegister(self): result = [None] * 64 for ii in range(64): if ii < 32 and self.dataDir['output_bit_registers0_to_31'] is not None: result[ii] = 2 ** (ii) & self.dataDir['output_bit_registers0_to_31'] == 2 ** (ii) elif ii > 31 and self.dataDir['output_bit_registers32_to_63'] is not None: result[ii] = 2 ** (ii - 32) & self.dataDir['output_bit_registers32_to_63'] == 2 ** (ii - 32) return result def OutputDoubleRegister(self, index): address = f"output_double_register_{index}" return self.dataDir[address] def OutputIntRegister(self, index): address = f"output_int_register_{index}" return self.dataDir[address] def UrControlVersion(self): raise NotImplementedError('Function Not yet implemented') def ClearToSend(self): raise NotImplementedError('Function Not yet implemented') class RobotStatusBit(object): PowerOn = None ProgramRunning = None TeachButtonPressed = None PowerButtonPressed = None class SafetyStatusBit(object): NormalMode = None ReducedMode = None ProtectiveStopped = None RecoveryMode = None SafeguardStopped = None SystemEmergencyStopped = None RobotEmergencyStopped = None EmergencyStopped = None Violation = None Fault = None StoppedDueToSafety = None