OpenUR

A comprehensive Python library for controlling Universal Robots through their TCP/IP interfaces. OpenUR provides a unified interface for Dashboard Server, RTDE (Real-Time Data Exchange), and URScript commands.

Features

• Dashboard Server Integration: Complete control over robot state, programs, and safety
• RTDE Support: Real-time data exchange for monitoring and control
• URScript Interface: Send and execute URScript programs
• Context Manager Support: Safe resource management with automatic cleanup
• Comprehensive Error Handling: Robust error handling and connection management
• CLI Tools: Command-line interface for configuration and testing

Installation

pip install OpenUr

Quick Start

from openur import OpenUR

# Connect to robot
with OpenUR('192.168.1.11') as robot:
    # Check robot status
    if robot.is_in_remote():
        print("Robot is in remote control mode")

    # Get current joint positions
    joint_positions = robot.actual_q()
    print(f"Current joint positions: {joint_positions}")

    # Move robot
    robot.movej([0, -1.57, 0, -1.57, 0, 0])

CLI Commands

Create RTDE Configuration

openur make .                    # Create rtde_configuration.xml in current directory
openur make /path/to/config      # Create in specified directory
openur make . --force           # Overwrite existing file

Test Robot Connection

openur test 192.168.1.11        # Test connection to robot
openur test 192.168.1.11 -t 30  # Test with 30 second timeout

Configuration

Before using OpenUR, you need to create an RTDE configuration file:

openur make .

This creates rtde_configuration.xml with the necessary fields for data exchange.

Documentation

For full documentation visit Documentation.

Requirements

• Python 3.7+
• numpy>=1.19.4,<2.0.0
• math3d>=3.3.5

License

GNU GPL v3 License

Contributing

Contributions are welcome! Please feel free to submit a Pull Request.

Project Structure

openur/
├── dashboard/          # Dashboard server interface
├── rtde_command/       # RTDE data exchange
├── urscript/          # URScript interface
├── connections/       # Connection management
└── cli.py            # Command-line interface

Support

For support and questions, please open an issue on GitHub.