Robots

Defines a generic robot.

class Robot(ip_address: str, port: int, frequency: int = 125, name: str = '')

A generic robot type.

_abc_impl = <_abc._abc_data object>
_connect(ip_address: str, port: int)

Connect to a real or simulated robot via TCP / IP.

The function uses the RTDE protocol.

Parameters:

  • ip_address (str) – The IP Address of the real or simulated robot controller.

  • port (int) – The port over which to connect to the robot.

property con

RTDE connection to the robot.

disconnect()

Disconnect from the robot.

get_data(requested_data: array, samples: int = 1, frequency: int = 125)

Defines an API for connecting with a UR5e robot via the RTDE protocol.

class UR5e(ip_address: str, port: int, frequency: int = 125, name: str = 'UR5e')

The UR5e Robot.

_abc_impl = <_abc._abc_data object>
_configure_communication(config_file: str, frequency: int = 125)

Configure and initialize the communication with the robot.

Parameters:

  • config (str) – The RTDE configuration

  • frequency (int) – The frequency with which to communicate with the robot.

Raises:

RuntimeError – If the initialization of the communication has failed.

_get_single_data()

Get a single data package from the robot.

Note

Always gets all data that is defined in the connection coniguration xml file.

Returns:

Serialized output data of singel measurement.

get_current_joint_angles() → ndarray

Retrieves current joint angles from the robot.

This is a convenience method, which reformats the joint angles from a dict into a numpy array for easier processing.

Note

If more data is required, please use the Ur5e.get_data() method.

Returns:

Actual joint angles from q0 -> q5

Return type:

numpy.ndarray

get_data(requested_data: array, samples: int = 1, frequency: int = 125) → dict

Get data from the robot.

Parameters:

  • requested_data (numpy.ndarray) – The data that should be returned.

  • samples (int) – The number of data that should be returned of each type.

  • frequency (int) – The frequency with which to communicate with the robot.

Raises:

AssertionError – The frquency and number of requested samples arguments must be greater than zero!

property setp
property watchdog