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RTDE client library - Python

Library implements API for Universal Robots RTDE realtime interface.

Full RTDE description is available on Universal Robots support site

Project structure

rtde

RTDE core library

  • rtde.py: RTDE connection management object

  • rtde_config.py: XML configuration files parser

  • csv_writer.py, csv_reader.py: read and write rtde data objects to text csv files

examples

  • record.py - example of recording realtime data from selected channels.
  • example_control_loop.py - example for controlling robot motion. Program moves robot between 2 setpoints. Copy rtde_control_loop.urp to the robot. Start python script before starting program.
  • example_plotting.py - example for using csv_reader, and plotting selected data.

Running examples

It's recommended to run examples in virtual environment. Some require additional libraries.

python record.py -h
python record.py --host 192.168.0.1 --frequency 10

Using robot simulator in Docker

RTDE can connect from host system to controller running in Docker when RTDE port 30004 is forwarded.

  1. Get latest ursim docker image: docker pull universalrobots/ursim_e-series
  2. Run docker container: docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
  3. open vnc client in browser, and confirm safet: http://localhost:6080/vnc.html?host=docker_ip&port=6080

More information about ursim docker image is available on Dockerhub

Using robot simulator in VirtualBox

RTDE can connect from host system to controller running in VirtualBox when RTDE port 30004 is forwarded.

  1. Download simulator from Universal Robots support site
  2. Run simulator in VirtualBox
  3. Open menu Devices->Network Settings
  4. Open Advanced settings for NAT
  5. Open Port Forwarding
  6. Add new rule, setting host, and guest ports to 30004. Leave host, and guest IP fields blank.

Using rtde library

Copy rtde folder python project Library is compatible with Python 2.7+, and Python 3.6+

Build release package

mvn package

Using with virtual environment

Create virtual environment, and install wheel package

Linux & MacOS

python -m venv venv
source venv/bin/activate
pip install wheel

Install rtde package

pip install target/rtde-<version>-release.zip

Windows PowerShell

If Python3 is not installed, then just run python3 from powershell. Microsoft store will launch the installation.

Permission to run scripts in console is needed to activate virtual envrionment.

set-executionpolicy -Scope CurrentUser -ExecutionPolicy Unrestricted
python -m venv venv
venv/Scripts/Activate.ps1
pip install wheel

Install rtde package

pip install target/rtde-<version>-release.zip

Contributor guidelines

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