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
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
Release history Release notifications | RSS feed
Download files
Download the file for your platform. If you're not sure which to choose, learn more about installing packages.
Source Distribution
Built Distributions
Hashes for ur_rtde-1.4.5-pp37-pypy37_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | afcf90146ecc039445e95105927ad17696936d03d88b14c1cd6b681d9270eb7b |
|
MD5 | 0565a3ae92733ace8d2f362398befc73 |
|
BLAKE2b-256 | 815dc32ecd920625aa1a08bd18b42e4fc5cfc53b46d7436e5abf35efe0d6dd0e |
Hashes for ur_rtde-1.4.5-pp36-pypy36_pp73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 833038006cf10bb315638f591ace2f86a0792325c3dc723620ce82b8f6df7621 |
|
MD5 | 5b54a4a00ea8efd3fbef763b29880b8b |
|
BLAKE2b-256 | 1f512204475635a46a7a769dead94da0a1078e0b148b423258ba21ca723cfd95 |
Hashes for ur_rtde-1.4.5-pp27-pypy_73-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 711c2bbec40b1f805046044824590f2d359f5f4657bf64194988f7751b742bea |
|
MD5 | a93eb6ca7e003f71a0c60395f5dac563 |
|
BLAKE2b-256 | 3637f6a0059700ac0171f829d06605c9c721b0f3948a8091090fb08e85dfcf68 |
Hashes for ur_rtde-1.4.5-cp39-cp39-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | f66aa113d7bb8e9905d6e6136611b1e2d2b7365a780997cd6f1b215c9a528ea1 |
|
MD5 | 2e8426a87eb4488df9c62fab1df8f4f5 |
|
BLAKE2b-256 | e99d50f0d704666f24759aa6dd21f5b5a9794f51132e4bba429c71b26bcad6ce |
Hashes for ur_rtde-1.4.5-cp39-cp39-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | fb4c8203ecb1441dfe4367c564fdb2d151d401fa676d16507abce7879a19959a |
|
MD5 | 29df70b3293a00c8ec99ed995b0a0f70 |
|
BLAKE2b-256 | 642539c65ed91c8a262c2c96855f19995987704919195559a020c670975d8bef |
Hashes for ur_rtde-1.4.5-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 95e1f2136875b7faa34ff17d23edb395951cb09c5d5f5d4159995e8debcca02f |
|
MD5 | 8c1a4e93b453bd042d1fccd632f3478b |
|
BLAKE2b-256 | c61c027b3707abe312d5b4bf0e057a78b49d2d9578827178b62bab4e891c3e79 |
Hashes for ur_rtde-1.4.5-cp38-cp38-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 31cbb2c79e0696cfabb9f9d5c929c5308a52b37747604255cad24abbe66e8210 |
|
MD5 | 8cea26c6e3d8f82f351f7f06426ca44d |
|
BLAKE2b-256 | 87f9f9dd662883bec8f1415eb7a7fed6fceec0354cbdaf3170fe18a735e232fb |
Hashes for ur_rtde-1.4.5-cp38-cp38-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | dda44fdbb96595e9e99a2575f4f2925a27b8528478225e822029278908f575d1 |
|
MD5 | 8e8126bccc54c70fcd88a59f3ee7c183 |
|
BLAKE2b-256 | 6c5e7c9946f561b051887527ca4d52712203dde0d2c7e672250870365f13045e |
Hashes for ur_rtde-1.4.5-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 446055ce56e09853ff77e400c6031cdb62b16e953398f1a606d7624054401d20 |
|
MD5 | 56c86c69ae4643e1051204458d6f4e0a |
|
BLAKE2b-256 | c80efd6a29200c0f8cb903896106cd758f5adc173a1e7703e96ff3f0da6ad6d2 |
Hashes for ur_rtde-1.4.5-cp37-cp37m-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 66b952a90f53cde448bc8443ee1989c8d81eed3617394d313a263708c284a44d |
|
MD5 | 8a5f148bed6c40ef146b8af11b74fa04 |
|
BLAKE2b-256 | 0e8ad14b719bab0d5851c1a2a0af2b459c5cd4d8f21ea142ad9df076797efb4d |
Hashes for ur_rtde-1.4.5-cp37-cp37m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e14868f968c6ca3fa844776bebca97502eec94c9bdbf0bc0551758f2ed149801 |
|
MD5 | bd030962140807d65b8773a8828e6a16 |
|
BLAKE2b-256 | 45ee77a57c6b8a4b808152ec803437da7f8310996b0dc98d52b6fabb80b54d6b |
Hashes for ur_rtde-1.4.5-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | a66fd537d864352d3190284dab7e24051a86bc480eb0f625091d4f016aae6c75 |
|
MD5 | 6e952e228964a60a10b38b7964423bbe |
|
BLAKE2b-256 | 3dec8968e4fb3ef7f9ca825973698157f2ecdb08510992c8c69774e5f140ee79 |
Hashes for ur_rtde-1.4.5-cp36-cp36m-win_amd64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 1d53e4717b07fce48425c53331828defa1bebe612ad449e9b13b2c3d78464146 |
|
MD5 | 50628a79bddcaa64d2fdee48262686e5 |
|
BLAKE2b-256 | 53c9bb8a1bce26175567e90bee0b812e384e3bc4dce3d62eecfea390e7153f5d |
Hashes for ur_rtde-1.4.5-cp36-cp36m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 7c7f5a1821895378cb75407728d4fbfbbf056132e76299ff79ade8e0796dc23c |
|
MD5 | b55f14c36ba1a955adda85d58e1089a9 |
|
BLAKE2b-256 | 4b3747783a05cd32544b0421630c360e0213dd20ee6f4875579f9134945ef9e8 |
Hashes for ur_rtde-1.4.5-cp36-cp36m-macosx_10_9_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | e6f0888c6bd18d4f9b3f484aaaaed23a248421fbd56dc7142ce92806386bd669 |
|
MD5 | ff832a61cd80fffb71a101b2005fa21d |
|
BLAKE2b-256 | 63340a2a09eb955588b7e81514a6d1b6e30d2fa4912985ebb78bdf7f7a046fcf |
Hashes for ur_rtde-1.4.5-cp35-cp35m-manylinux2014_x86_64.whl
Algorithm | Hash digest | |
---|---|---|
SHA256 | 41b5d62f856956eeaebfdada132bb020a682b4f8cbb6cd15cbffa45ad2fae611 |
|
MD5 | 4fefef9ca19c69ea2ae7301f0b5d28ae |
|
BLAKE2b-256 | f17aade085deddc8e87d890b874cc3a6824fafea44abc1cfa4c9a80adfd116a7 |