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UR5e

Inherits from: Arm A class to control the Universal Robots UR5e robotic arm. Attributes: rtde_c: RTDE Control interface object rtde_r: RTDE Receive interface object rtde_i: RTDE IO interface object end_effector: Gripper/end effector object if attached, should be an INSTANTIATED object ee_state (int): Current state of end effector (OPEN/CLOSED)

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Inherited methods

  • From Arm: setNamedPose, removeNamedPose, getNamedPose
  • From Robot: addSensor, cleanup

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init

UR5e.__init__(robot_ip: str = '192.168.1.102', end_effector = None, cameras: Optional[Dict[str, Camera]] = None, enable_control: bool = True)
Initialize the UR5e robot arm.
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Arguments
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robot_ip (str)
str
IP address of the robot. Defaults to “192.168.1.102”.
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end_effector (optional)
optional
End effector instance to use. Defaults to None.
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cameras (Optional[Dict[str, Camera]])
Optional[Dict[str, Camera]]
Named camera interfaces. Defaults to None.
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enable_control (bool)
bool
Whether to enable the rtde_c interface of the robot. For free-drive mode, set to False.

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getImage

UR5e.getImage(camera_name: str, image_type: str = 'rgb') -> Image
Get an image from the robot’s camera. Note: Camera names must match those defined during robot configuration.
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Arguments
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camera_name (str)
str
required
Name of the camera to get an image from.
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image_type (str)
str
Type of image to retrieve. One of [“rgb”, “depth_meters”]. Defaults to “rgb”.
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Returns
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Image
Image
image from the specified camera

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moveToDeltaPose

UR5e.moveToDeltaPose(delta_position: Position, delta_orientation: Orientation = Orientation(0, 0, 0, 1.0), blocking: bool = True, moving_time: float = 0.5, accel_time: float = 0.2)
Move the robot end effector by a relative pose offset from its current pose.
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Arguments
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delta_position (Position)
Position
required
position offset (relative to the current position) added to current XYZ coordinates (meters)
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delta_orientation (Orientation)
Orientation
orientation offset (relative to the current orientation) composed with current orientation. Defaults to the identity orientation.
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to 0.5.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to 0.2.
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Returns
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bool
True if the movement command was successful, False otherwise

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getState

UR5e.getState() -> dict
Get the complete state (mode, joint positions, velocities, end effector force, pose, speed) of the ur5e as a dictionary.
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Returns
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dict
dict
Current state of the robot containing: - robot_mode: int, Current robot mode (eg. 0 = Disconnected, 2 = Booting, 7 = Running, etc.) - joint_positions: 6-element list, Current joint positions (radians) - joint_velocities: 6-element list, Current joint velocities (radians/s) - tcp_force: 6-element list, Generalized forces in the Tool Center Point (N) - tcp_pose: 6-element list, Current TCP pose [x, y, z, rx, ry, rz] where rotation is in rotation vector format - tcp_speed: 6-element list, Actual speed of the tool given in Cartesian coordinates (m/s)

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moveToPose

UR5e.moveToPose(position: Position, orientation: Orientation, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5, avoid_force: bool = False, stop_acceleration: float = 5, force_threshold: float = 10)
Move the robot end effector to a specified pose with respect to the base frame. The argument avoid_force can be used to stop the movement early if the force applied to the end effector exceeds a threshold, useful for soft placement or other movements where a collision is possible/ expected.
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Arguments
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position (Position)
Position
required
Target pose position (meters)
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orientation (Orientation)
Orientation
required
Target pose orientation
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement (seconds). Defaults to 2.0s.
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accel_time (float)
float
Time to spend accelerating and decelerating (seconds). Defaults to 0.5s.
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avoid_force (bool)
bool
If True, the robot will stop the movement early if the force applied to the end effector exceeds a threshold. Defaults to False.
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stop_acceleration (float)
float
Acceleration to use when stopping the movement. Defaults to 1.0.
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force_threshold (float)
float
Threshold for force to consider the movement successful. Defaults to 10.0.
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Returns
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bool
True if the movement command was successful, False otherwise
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Raises
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ValueError
If moving_time or accel_time are not positive floats or integers

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startFreeDrive

UR5e.startFreeDrive()
Starts free drive mode, in which the robot is compliant and can be moved by hand but supports its own weight.

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endFreeDrive

UR5e.endFreeDrive()
Ends free drive mode, allowing the robot to be controlled by moveToPose() or moveToDeltaPose() (but no longer movable by hand)

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moveToNamedPose

UR5e.moveToNamedPose(pose_name: str, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.75)
Move the robot to the joint angles of a named pose.
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Arguments
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pose_name (str)
str
required
Name of the pose to move to. Options are “home”, “sleep”, and “upright”.
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to 2.0.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to 0.75.
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Returns
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bool
True if the movement command was successful, False otherwise

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moveByVelocity

UR5e.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
Move the robot end effector with specified velocities.
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Arguments
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linear_velocity (Velocity)
Velocity
required
Linear velocity components
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angular_velocity (Velocity)
Velocity
required
Angular velocity components
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frame (str)
str
No description provided.

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stop

UR5e.stop(immediate = False)
Stop any movement of the robot (soft emergency-stop).
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Arguments
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immediate (bool, optional)
bool, optional
If True, stops immediately by killing script. If False, performs controlled stop and doesn’t kill the script. Defaults to False.

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suction_grasp

UR5e.suction_grasp(approach_direction: np.ndarray = None, compliant_force: bool = False, force: float = 20, approach_distance: float = 0.1, approach_time: float = 2, *args, **kwargs)
Performs last step of suction grip, approaches the object and returns to the original position Uses force readings to minimize excessive force on the robot
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Arguments
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approach_direction (np.ndarray)
np.ndarray
No description provided.
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compliant_force (bool)
bool
No description provided.
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force (float)
float
No description provided.
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approach_distance (float)
float
No description provided.
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approach_time (float)
float
No description provided.
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args
No description provided.
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kwargs
No description provided.

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grasp

UR5e.grasp(*args, **kwargs)
Close the gripper to grasp an object. Only works if an end effector is configured. Changes ee_state to CLOSED.
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Arguments
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args
No description provided.
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kwargs
No description provided.

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validate_grasp

UR5e.validate_grasp()
Validate that the grasp is successful.
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Returns
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bool
True if the grasp is successful, False otherwise
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None
If the end effector does not support validation

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release

UR5e.release()
Open the gripper to release an object. Only works if an end effector is configured. Changes ee_state to OPEN.

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shutdown

UR5e.shutdown()
Shutdown the robot safely. Stops the robot and disconnects RTDE interfaces.

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getEndEffectorPose

UR5e.getEndEffectorPose() -> Pose
Get the current end effector pose with respect to the base frame.
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Returns
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Pose
Pose
Current end effector position and orientation

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getPosition

UR5e.getPosition() -> Position
Get the current end effector position with respect to the robot base (meters)
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Returns
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Position
Position
Current end effector position with respect to the robot base

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getOrientation

UR5e.getOrientation(name: str = '') -> Orientation
Get the current end effector orientation with respect to the robot base
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Arguments
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name (str)
str
No description provided.
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Returns
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Orientation
Orientation
Current end effector orientation with respect to the robot base
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name
str, optional
Unused

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getJointAngles

UR5e.getJointAngles() -> list
Get a list of the 6 current joint angles in radians
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Returns
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list
list
List of current joint angles in radians

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getJointVelocities

UR5e.getJointVelocities() -> list
Get a list of the 6 current joint velocities in radians/second
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Returns
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list
list
List of current joint velocities in radians/second

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setJointAngles

UR5e.setJointAngles(angles: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5)
Set joint angles directly.
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Arguments
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angles (list)
list
required
List of 6 target joint angles in radians
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blocking (bool)
bool
Wait for movement to complete. Defaults to True.
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moving_time (float)
float
Time to complete the movement. Defaults to 2.0.
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accel_time (float)
float
Time to accelerate/decelerate. Defaults to 0.5.
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Returns
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bool
True if the movement command was successful, False otherwise
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Raises
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ValueError
If moving_time or accel_time are not positive floats or integers

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moveToHome

UR5e.moveToHome(moving_time: float = 2.0, accel_time: float = 0.75)
Move the robot to a predefined home position.
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Arguments
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moving_time (float)
float
No description provided.
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accel_time (float)
float
No description provided.

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servoJointAngles

UR5e.servoJointAngles(angles: list, time: float, lookahead_time: float = 0.03, gain: float = 300.0)
Command the setpoint and gain of the low-level joint position controller (linear in joint-space). This function expects to be called in a 500Hz loop with joint positions that are close to each other. Example use cases: real-time control using classical or Reinforcement-Learning controllers.
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Arguments
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angles (list)
list
required
List of target joint angles in radians
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time (float)
float
required
(seconds) Duration for which the command controls the robot. This is blocking.
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lookahead_time (float)
float
(seconds) Range [0.03,0.2]. The current position is projected forward in time with the current velocity, and used to smooth the trajectory. A low value gives fast reaction, a high value prevents overshoot.
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gain (float)
float
(range [100,2000]) Proportional gain of the PID controller that tracks target joint position Higher gains will cause the robot to move faster, but could cause jerkiness or oscillations.
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Returns
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bool
True if the movement command was successful, False otherwise
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Raises
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ValueError
If time is not a positive float or int

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initPeriod

UR5e.initPeriod()
Initialize the control loop period to 0.002 seconds (500Hz).
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Returns
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Optional[float]
Current time (indicating the start of the current loop iteration), or None if the robot is not in control mode

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waitPeriod

UR5e.waitPeriod(t_start: float)
Wait for the rest of the 0.002 second (500Hz) control period using a combination of sleep and spin. Used together with initPeriod and servoJointAngles (see ServoJointAngles documentation for example).
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Arguments
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t_start (float)
float
required
(float) Time at which the current loop iteration started, from initPeriod()