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First published library version: 2.7.0
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‎.gitignore‎

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.idea
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.vscode
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dist
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build
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target
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UrRtde.egg-info

‎README.md‎

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# RTDE client library - Python
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Library implements API for Universal Robots RTDE realtime interface.
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Full RTDE description is available on [Universal Robots support site](https://www.universal-robots.com/support/)
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# Project structure
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## rtde
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RTDE core library
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- rtde.py:
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RTDE connection management object
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- rtde_config.py:
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XML configuration files parser
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- csv_writer.py, csv_reader.py:
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read and write rtde data objects to text csv files
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## examples
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- record.py - example of recording realtime data from selected channels.
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- example_control_loop.py - example for controlling robot motion. Program moves robot between 2 setpoints.
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Copy rtde_control_loop.urp to the robot. Start python script before starting program.
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- example_plotting.py - example for using csv_reader, and plotting selected data.
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### Running examples
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It's recommended to run examples in [virtual environment](https://docs.python.org/3/library/venv.html).
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Some require additional libraries.
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```
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python record.py -h
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python record.py --host 192.168.0.1 --frequency 10
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```
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### Using robot simulator in VirtualBox
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RTDE can connect from host system to controller running in VirtualBox
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when RTDE port 30004 is forwarded.
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1. Download simulator from [Universal Robots support site](https://www.universal-robots.com/support/)
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2. Run simulator in VirtualBox
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3. Open menu Devices->Network Settings
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4. Open Advanced settings for NAT
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5. Open Port Forwarding
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6. Add new rule, setting host, and guest ports to 30004.
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Leave host, and guest IP fields blank.
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# Using rtde library
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Copy rtde folder python project
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Library is compatible with Python 2.7+, and Python 3.6+
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# Build release package
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```
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mvn deploy
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```
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# Contributor guidelines
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Code is formatted with [black](https://github.com/psf/black).
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Run code formatter before submitting pull request.
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‎assembly-dev.xml‎

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<assembly xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.2" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.2 http://maven.apache.org/xsd/assembly-1.1.2.xsd">
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<formats>
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<format>tar.gz</format>
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</formats>
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<id>dev</id>
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<includeBaseDirectory>false</includeBaseDirectory>
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<fileSets>
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<fileSet>
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<directory>${project.build.directory}/dev</directory>
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<outputDirectory>/rtde-${version}/</outputDirectory>
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<includes>
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<include>**/*</include>
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</includes>
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</fileSet>
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</fileSets>
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</assembly>

‎assembly-release.xml‎

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<assembly xmlns="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.2" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:schemaLocation="http://maven.apache.org/plugins/maven-assembly-plugin/assembly/1.1.2 http://maven.apache.org/xsd/assembly-1.1.2.xsd">
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<formats>
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<format>zip</format>
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</formats>
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<id>release</id>
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<includeBaseDirectory>false</includeBaseDirectory>
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<fileSets>
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<fileSet>
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<directory>${project.build.directory}/dev</directory>
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<outputDirectory>/rtde-${version}/</outputDirectory>
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<includes>
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<include>**/*</include>
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</includes>
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<excludes>
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<exclude>setup.py</exclude>
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<exclude>setup.cfg</exclude>
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</excludes>
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</fileSet>
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</fileSets>
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</assembly>

‎examples/__init__.py‎

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‎examples/control_loop_configuration.xml‎

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<?xml version="1.0"?>
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<rtde_config>
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<recipe key="state">
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<field name="target_q" type="VECTOR6D"/>
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<field name="target_qd" type="VECTOR6D"/>
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<field name="output_int_register_0" type="INT32"/>
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</recipe>
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<recipe key="setp">
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<field name="input_double_register_0" type="DOUBLE"/>
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<field name="input_double_register_1" type="DOUBLE"/>
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<field name="input_double_register_2" type="DOUBLE"/>
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<field name="input_double_register_3" type="DOUBLE"/>
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<field name="input_double_register_4" type="DOUBLE"/>
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<field name="input_double_register_5" type="DOUBLE"/>
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</recipe>
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<recipe key="watchdog">
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<field name="input_int_register_0" type="INT32"/>
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</recipe>
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</rtde_config>

‎examples/example_plotting.py‎

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#!/usr/bin/env python
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# Copyright (c) 2016-2022, Universal Robots A/S,
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# All rights reserved.
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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# * Neither the name of the Universal Robots A/S nor the names of its
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# contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL UNIVERSAL ROBOTS A/S BE LIABLE FOR ANY
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# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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import matplotlib.pyplot as plt
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import sys
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sys.path.append("..")
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import rtde.csv_reader as csv_reader
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with open("robot_data.csv") as csvfile:
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r = csv_reader.CSVReader(csvfile)
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# plot
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plt.plot(r.timestamp, r.target_q_1)
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plt.show()

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