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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)
Inherited methods
- From
Arm: setNamedPose, removeNamedPose, getNamedPose
- From
Robot: addSensor, cleanup
init
UR5e.__init__(robot_ip: str = '192.168.1.102', end_effector = None, cameras: Optional[Dict[str, Camera]] = None, enable_control: bool = True)
IP address of the robot. Defaults to “192.168.1.102”.
End effector instance to use. Defaults to None.
cameras (Optional[Dict[str, Camera]])
Optional[Dict[str, Camera]]
Named camera interfaces. Defaults to None.
Whether to enable the rtde_c interface of the robot. For free-drive mode, set to False.
getImage
UR5e.getImage(camera_name: str, image_type: str = 'rgb') -> Image
Name of the camera to get an image from.
Type of image to retrieve. One of [“rgb”, “depth_meters”]. Defaults to “rgb”.
image from the specified camera
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)
delta_position (Position)
position offset (relative to the current position) added to current XYZ coordinates (meters)
delta_orientation (Orientation)
orientation offset (relative to the current orientation) composed with current orientation. Defaults to the identity orientation.
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to 0.5.
Time to accelerate/decelerate. Defaults to 0.2.
True if the movement command was successful, False otherwise
getState
Get the complete state (mode, joint positions, velocities, end effector force, pose, speed) of the ur5e as a dictionary.
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)
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)
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.
Target pose position (meters)
orientation (Orientation)
Target pose orientation
Wait for movement to complete. Defaults to True.
Time to complete the movement (seconds). Defaults to 2.0s.
Time to spend accelerating and decelerating (seconds). Defaults to 0.5s.
If True, the robot will stop the movement early if the force applied to the end effector exceeds a threshold. Defaults to False.
stop_acceleration (float)
Acceleration to use when stopping the movement. Defaults to 1.0.
Threshold for force to consider the movement successful. Defaults to 10.0.
True if the movement command was successful, False otherwise
If moving_time or accel_time are not positive floats or integers
startFreeDrive
Starts free drive mode, in which the robot is compliant and can be moved by hand but supports its own weight.
endFreeDrive
Ends free drive mode, allowing the robot to be controlled by moveToPose() or moveToDeltaPose()
(but no longer movable by hand)
moveToNamedPose
UR5e.moveToNamedPose(pose_name: str, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.75)
Name of the pose to move to. Options are “home”, “sleep”, and “upright”.
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to 2.0.
Time to accelerate/decelerate. Defaults to 0.75.
True if the movement command was successful, False otherwise
moveByVelocity
UR5e.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, frame: str = 'body')
linear_velocity (Velocity)
Linear velocity components
angular_velocity (Velocity)
Angular velocity components
stop
UR5e.stop(immediate = False)
immediate (bool, optional)
If True, stops immediately by killing script. If False, performs controlled stop and doesn’t kill the script. Defaults to False.
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)
approach_direction (np.ndarray)
No description provided.
approach_distance (float)
No description provided.
grasp
UR5e.grasp(*args, **kwargs)
validate_grasp
Validate that the grasp is successful.
True if the grasp is successful, False otherwise
If the end effector does not support validation
release
Open the gripper to release an object.
Only works if an end effector is configured. Changes ee_state to OPEN.
shutdown
Shutdown the robot safely.
Stops the robot and disconnects RTDE interfaces.
getEndEffectorPose
UR5e.getEndEffectorPose() -> Pose
Current end effector position and orientation
getPosition
UR5e.getPosition() -> Position
Current end effector position with respect to the robot base
getOrientation
UR5e.getOrientation(name: str = '') -> Orientation
Current end effector orientation with respect to the robot base
getJointAngles
UR5e.getJointAngles() -> list
List of current joint angles in radians
getJointVelocities
UR5e.getJointVelocities() -> list
List of current joint velocities in radians/second
setJointAngles
UR5e.setJointAngles(angles: list, blocking: bool = True, moving_time: float = 2.0, accel_time: float = 0.5)
List of 6 target joint angles in radians
Wait for movement to complete. Defaults to True.
Time to complete the movement. Defaults to 2.0.
Time to accelerate/decelerate. Defaults to 0.5.
True if the movement command was successful, False otherwise
If moving_time or accel_time are not positive floats or integers
moveToHome
UR5e.moveToHome(moving_time: float = 2.0, accel_time: float = 0.75)
servoJointAngles
UR5e.servoJointAngles(angles: list, time: float, lookahead_time: float = 0.03, gain: float = 300.0)
List of target joint angles in radians
(seconds) Duration for which the command controls the robot. This is blocking.
(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.
(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.
True if the movement command was successful, False otherwise
If time is not a positive float or int
initPeriod
Initialize the control loop period to 0.002 seconds (500Hz).
Current time (indicating the start of the current loop iteration), or None if the robot is not in control mode
waitPeriod
UR5e.waitPeriod(t_start: float)
(float) Time at which the current loop iteration started, from initPeriod()
