fanuc-rmi 0.1.5

Simple FANUC RMI client

FANUC RMI Client

Python client for FANUC RMI with reusable functions (no CLI entrypoint).

Install (pip)

python3 -m venv .venv
source .venv/bin/activate
pip install fanuc-rmi

Robot URDF files Large datasets can be found here: https://github.com/Daniella1/urdf_files_dataset?tab=readme-ov-file

Quick Start

from fanuc_rmi import RobotClient

robot = RobotClient(
    host="192.168.1.22",
    startup_port=16001,
    main_port=16002,
    connect_timeout=5.0,
    socket_timeout=100.0,
    reader_timeout=100.0,
    attempts=5,
    retry_delay=0.5,
    startup_pause=0.25,
)

robot.connect()
robot.initialize(uframe=0, utool=1)

# Do work...

robot.close()

Motion Commands

# set speed override (controller-specific range)
robot.speed_override(50)

# wait in seconds (uses sequence_id for ordering)
robot.wait_time(2.5, sequence_id=5)

# linear relative motion (mm / deg)
relative_displacement = {"X": 100, "Y": 0, "Z": 0, "W": 0, "P": 0, "R": 0}
robot.linear_relative(relative_displacement, speed=500, sequence_id=1)

# linear absolute motion (mm / deg)
absolute_position = {"X": 491.320, "Y": -507.016, "Z": 223.397, "W": -179.577, "P": 52.380, "R": -93.233}
robot.linear_absolute(absolute_position, speed=300, sequence_id=2)

# joint relative motion (deg)
relative_joints = {"J0": 0, "J1": 0, "J2": 0, "J3": 0, "J4": 0, "J5": 0, "J6": 0, "J7": 0, "J8": 0, "J9": 0}
robot.joint_relative(relative_joints, speed_percentage=40, sequence_id=3)

# joint absolute motion (deg)
absolute_joints = {"J1": 63.252, "J2": 31.488, "J3": -35.602, "J4": 18.504, "J5": -101.313, "J6": 108.650, "J7": 0.000, "J8": 0.000, "J9": 0.000}
robot.joint_absolute(absolute_joints, speed_percentage=40, sequence_id=4)

Read Positions (writes file + returns dict)

cartesian = robot.read_cartesian_coordinates()
# writes to ./robot_position_cartesian.txt

joints = robot.read_joint_coordinates()
# writes to ./robot_position_joint.txt

Coordinate Conversion (IKPy)

urdf_path = "robot_models/crx10ial/crx10ial.urdf"
cartesian = robot.read_cartesian_coordinates()
joints = robot.convert_coordinates(cartesian, robot_model_urdf_path=urdf_path, from_type="cartesian", to_type="joint")

cartesian_again = robot.convert_coordinates(joints, robot_model_urdf_path=urdf_path, from_type="joint", to_type="cartesian")

Output Files

• robot_position_cartesian.txt: created automatically when reading Cartesian poses
• robot_position_joint.txt: created automatically when reading joint poses

Notes

• Requires Python 3.11+.
• convert_coordinates requires ikpy (pip install ikpy).
• Coordinate conversion always uses W/P/R. Provide W/P/R in your input dicts (missing values default to 0.0).
• Joint dicts must use ascending J keys (J1, J2, J3, ...). The function assumes that order matches the URDF joint order.
• URDF units are often meters. If your robot reports millimeters, you may need to scale values before conversion.
• If you cloned the repo, main.py is a runnable example.
• For back-to-back moves, increment sequence_id to preserve ordering.