This is package for basic control of Universal Robots using inbuild intefaces like Dashboard, Realtime, RTDE. link to UR documentation: https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/
⚠️ **The package is under developement and test. It can have some bugs or missed functionalities. I am open for project ideas or cooperation to make it better. **
Dashboard is a tcp/ip socket communication to port 29999 with functionalities like:
- Loading program and installation to robot
- Enabling the robot (Servo on/off, Break release)
- Control of the program (Play, Stop, Pause)
Realtime interface is a tcp/ip socket communication to port 30003 with functionalities like:
- movej - joint movements
- movel - linear movements
- digital io control (gripper control)
- robot statuses (program state, robot state, actual pose etc.)
It is using UR Script commands for controling the robot behavior.
pip install -i https://test.pypi.org/simple/pyURControlfrom pyURControl import ur_control
# Init UR Control
ur_control.init('RobotIPAdress')
# Send power on command
ur_control.power_on()
# Send break release command
ur_control.break_release()After installation download the example file and connect it to the URSim Robot IP.
Then run the example:
