This is RT-Component(RTC) for Universal Robot(URx)
ManipulatorCommonInterfaceIDL
- ManipulatorCommonInterface
| InterfaceName | Support |
|---|---|
| clearAlarms | |
| getActiveAlarm | |
| getFeedbackPosJoint | ○ |
| getManipInfo | ○ |
| getSoftLimitJoint | ○ |
| getState | ○ |
| servoOFF | |
| servoON | |
| setSoftLimitJoint |
- ManipulatorMiddleInterface
| InterfaceName | Support |
|---|---|
| closeGripper | ○ |
| getBaseOffset | ○ |
| getFeedBackPosCartesian | |
| getMaxSpeedCartesian | |
| getMaxSpeedJoint | ○ |
| getMinAccelTimeCartesian | |
| getMinAccelTimeJoint | |
| getSoftLimitCartesian | |
| moveGripper | ○ |
| moveLinearCartesianAbs | |
| moveLinearCartesianRel | |
| movePTPJointAbs | ○ |
| movePTPJointRel | ○ |
| openGripper | ○ |
| pause | ○ |
| resume | ○ |
| stop | ○ |
| setAccelTimeJoint | |
| setBaseOffset | |
| setControlPointOffset | |
| setMaxSpeedCartesian | |
| setMaxSpeedJoint | |
| setMinAccelTimeCartesian | |
| setMinAccelTimeJoint | |
| setSoftLimitCartesian | |
| setSpeedCartesian | |
| setSpeedJoint | |
| moveCircularCartesianAbs | |
| moveCircularCartesianRel | |
| setHome | ○ |
| getHome | ○ |
| goHome | ○ |
$ sudo pip install urx
$ sudo pip install math3d
Required version: urx >= 0.11
$ python URRobotControllerRTC.py
Connects actual URx robot via network
$ python test/test_robot.py
$ git clone https://github.com/SintefRaufossManufacturing/python-urx
$ python python-urx/tools/fakerobot.py
$ python tests/test_fakerobot.py
$ sh tests/test_component.sh