draw_circle
Command a Universal Robot to draw circles by specifying the center position, radius, and plane orientation (vertical or horizontal) using the nUR MCP Server.
Instructions
命令指定IP的机器人，给定圆心位置和半径，在水平或竖直方向画一个圆 center：圆心的TCP位置 r：半径（米） coordinate：圆所在的平面。z：圆形所在的平面与基座所在平面垂直,其它：圆形所在的平面与基座所在平面平行。默认值：z。
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| center | Yes | ||
| coordinate | No | z | |
| ip | Yes | ||
| r | Yes |
Implementation Reference
- The implementation of the 'draw_circle' tool. This function is decorated with @mcp.tool(), serving as both the registration and the handler. It calculates waypoints around the given center and radius, constructs a URScript program to draw a circle using movep and movec commands, and sends it to the robot via RealTimeClient.@mcp.tool() def draw_circle(ip: str, center: dict, r: float, coordinate="z"): """命令指定IP的机器人，给定圆心位置和半径，在水平或竖直方向画一个圆 center：圆心的TCP位置 r：半径（米） coordinate：圆所在的平面。z：圆形所在的平面与基座所在平面垂直,其它：圆形所在的平面与基座所在平面平行。默认值：z。""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") wp_1 = [center[0], center[1], center[2], center[3], center[4], center[5]] wp_2 = [center[0], center[1], center[2], center[3], center[4], center[5]] wp_3 = [center[0], center[1], center[2], center[3], center[4], center[5]] wp_4 = [center[0], center[1], center[2], center[3], center[4], center[5]] cmd = '' if coordinate.lower() == "z": wp_1[2] = wp_1[2] + r wp_2[1] = wp_2[1] + r wp_3[2] = wp_3[2] - r wp_4[1] = wp_4[1] - r else: wp_1[0] = wp_1[0] - r wp_2[1] = wp_2[1] + r wp_3[0] = wp_3[0] + r wp_4[1] = wp_4[1] - r cmd = (f"movep(p{str(wp_1)}, a=1, v=0.25, r=0.025)\nmovec(p{str(wp_2)}, p{str(wp_3)}, a=1, v=0.25, " f"r=0.025, mode=0)\nmovec(p{str(wp_4)}, p{str(wp_1)}, a=1, v=0.25, r=0.025, mode=0)") robot_list[ip].robotConnector.RealTimeClient.SendProgram(cmd) return return_msg(f"命令已发送：{cmd}") except Exception as e: logger.error(f"命令发送失败: {str(e)}") return return_msg(f"命令发送失败: {str(e)}")
- src/nonead_universal_robots_mcp/server.py:613-613 (registration)The @mcp.tool() decorator registers the draw_circle function as an MCP tool.@mcp.tool()