ur3stuff

Get started

To run the code of this project you need to install the Eclipse paho mqtt client.
The required package is listed in a requirements file.

Install required packets via virtual environment (recommended):

python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

OR install the packets to your user account:

pip install -r requirements.txt

Documentation

For examples how to use the script also see publisher.py and subscriber.py.

Usage

Connect to robot

# Set host and port of mqtt broker
broker = 'localhost'
port = 1883

# Create new client
robot = UR3Robot(broker, port)

# Start client thread for network traffic ("start sending commands and receiving data")
robot.start()

# ...work with the robot

# Stop client thread for network traffic before closing the program
robot.stop()

Listen for messages

# Subscribe to a topic
topic = "ur3/return"
robot.subscribe(topic)

# Now it will listen for messages on this topic...

Call for position, joints or forces

# Call for pose
robot.get_pose()

# Call for joints
robot.get_joints()

# Call for forces
robot.get_forces()

Moving the robot

# Move robo to a given pose with a given blending radius, velocity and acceleration
robot.move_j_pose([0.21, -0.18, 0.50, 1.57, 0.13, 0.01], blend_radius=0.03, velocity=0.5, acceleration=0.2)

# Move robo joints with a given blending radius, velocity and acceleration
robot.move_j_joints([0.2, -0.2, 0.1, 0.50, 1, 1], blend_radius=0.03, velocity=0.5, acceleration=0.2)

The movej commands are blocking, since they are designed to queue themselves behind currently running commands.
This will probably change depending on the needs of our application.

Slowing down the robot

# Reduces every movement of the robot to 10 %
robot.reduce_speed()

# Resets speed after reducing it
robot.reset_speed()

Freedrive mode

# Start freedrive mode
robot.start_freedrive()

# Stop freedrive mode
robot.stop_freedrive()

While freedrive mode is active, the movej commands won't work and raise an exception.