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A Python interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot.

Project description

 

build status pypi pypi Gitter

A C++ interface for controlling and receiving data from a UR robot using the Real-Time Data Exchange (RTDE) interface of the robot. The interface can also by used with python, through the provided python bindings.

Key Features

  • Fast and lightweight interface for programming UR robots.
  • Uses the Real-Time Data Exchange (RTDE) of the robot.
  • Available on multiple platforms (Linux, Windows, macOS)
  • Can be used from C++ and Python.
  • Relies only on STL datatypes and can be used with various robot frameworks.
  • Switchable register range (FieldBus / PLC [0..23] or external clients range [24..47])
  • Use it with the UR's ExternalControl UR Cap, download it here see how to install it on the robot here. In order to setup ur_rtde for using it see here.
  • Easy to install and setup.

Documentation

Documentation with installation and build instructions, examples and API resides at https://sdurobotics.gitlab.io/ur_rtde/

Quick Install

From PPA:

If you are on Ubuntu, you can install ur_rtde with:

sudo add-apt-repository ppa:sdurobotics/ur-rtde
sudo apt-get update
sudo apt install librtde librtde-dev

From PyPi:

If you only want to the use the Python interface, you can install ur_rtde through pip:

pip install --user ur_rtde

:warning: Notice! Make sure your pip version >=19.3, otherwise the install might fail.

Prebuilt python wheels support matrix:

Python 3.6 Python 3.7 Python 3.8 Python 3.9
Linux x86_64
macOS Intel
macOS Apple Silicon
Windows 64bit
Windows 32bit :x: :x: :x: :x:

Dependencies

Compatible Robots

  • All CB-Series from CB3/CB3.1 software 3.3
  • All e-Series

Compatible Operating Systems

Currently tested on:

  • Ubuntu 16.04 (Xenial Xerus)
  • Ubuntu 18.04 (Bionic Beaver)
  • Ubuntu 20.04 (Focal Fossa)
  • macOS 10.14 (Mojave)
  • Windows 10 Pro x64

Contact

If you have any questions or suggestions to the interface, feel free to contact Anders Prier Lindvig anpl@mmmi.sdu.dk or create an issue here.

Project details


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Files for ur-rtde, version 1.4.7
Filename, size File type Python version Upload date Hashes
Filename, size ur_rtde-1.4.7-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (4.0 MB) File type Wheel Python version cp310 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp36-cp36m-macosx_10_9_x86_64.whl (3.4 MB) File type Wheel Python version cp36 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (4.0 MB) File type Wheel Python version cp36 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp36-cp36m-win_amd64.whl (2.1 MB) File type Wheel Python version cp36 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp37-cp37m-macosx_10_9_x86_64.whl (3.4 MB) File type Wheel Python version cp37 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (4.0 MB) File type Wheel Python version cp37 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp37-cp37m-win_amd64.whl (2.1 MB) File type Wheel Python version cp37 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp38-cp38-macosx_10_9_x86_64.whl (3.5 MB) File type Wheel Python version cp38 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (4.0 MB) File type Wheel Python version cp38 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp38-cp38-win_amd64.whl (2.1 MB) File type Wheel Python version cp38 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp39-cp39-macosx_10_9_x86_64.whl (3.5 MB) File type Wheel Python version cp39 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (4.0 MB) File type Wheel Python version cp39 Upload date Hashes View
Filename, size ur_rtde-1.4.7-cp39-cp39-win_amd64.whl (2.1 MB) File type Wheel Python version cp39 Upload date Hashes View
Filename, size ur_rtde-1.4.7-pp27-pypy_73-macosx_10_9_x86_64.whl (3.5 MB) File type Wheel Python version pp27 Upload date Hashes View
Filename, size ur_rtde-1.4.7-pp36-pypy36_pp73-macosx_10_9_x86_64.whl (3.4 MB) File type Wheel Python version pp36 Upload date Hashes View
Filename, size ur_rtde-1.4.7-pp37-pypy37_pp73-macosx_10_9_x86_64.whl (3.4 MB) File type Wheel Python version pp37 Upload date Hashes View
Filename, size ur_rtde-1.4.7.tar.gz (2.8 MB) File type Source Python version None Upload date Hashes View

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