Universal Robots¶
UR e-Series over RTDE (port 30004), servoJ for streaming and moveJ for point moves.
from strands_robots import Robot
ur = Robot("ur5e", mode="real", port="192.168.1.10")
obs = ur.observe() # 6 joints, radians; robot and safety mode in sensors
ur.act({"shoulder_pan_joint": obs.joints["shoulder_pan_joint"] + 0.05})
ur.close()
| fact | value |
|---|---|
| wire | RTDE receive + control interfaces from ur_rtde |
| rows | ur5e, ur10e |
| native frame | radians |
| refusals | controller not RUNNING or safety mode not normal: refused before the write |
| URScript | the strings the controller accepted are ported verbatim |