movel_y
Control a robot's TCP to move along the Y-axis by specifying the IP address and desired distance in meters. Part of the nUR MCP Server for precise robot motion commands.
Instructions
命令指定IP机器人的TCP沿Y轴方向移动 IP：机器人地址 distance：移动距离（米）
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| distance | Yes | ||
| ip | Yes |
Implementation Reference
- The movel_y tool handler function. It registers the tool using the @mcp.tool() decorator, validates connection, retrieves current TCP pose, adjusts the Y coordinate by the given distance, executes the movel command on the robot, confirms execution, and returns status messages.@mcp.tool() def movel_y(ip: str, distance: float): """命令指定IP机器人的TCP沿Y轴方向移动 IP：机器人地址 distance：移动距离（米）""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") pose = robot_list[ip].get_actual_tcp_pose() pose[1] = pose[1] + distance robot_list[ip].movel(pose) result = movelConfirm(ip, pose) cmd = f"movel(p[{'{:.4f}'.format(pose[0])},{'{:.4f}'.format(pose[1])},{'{:.4f}'.format(pose[2])},{'{:.4f}'.format(pose[3])},{'{:.4f}'.format(pose[4])},{'{:.4f}'.format(pose[5])},],0.5,0.25,0,0)" if result == 1: return return_msg(f"命令 {cmd} 已发送，移动完成。") else: return return_msg(f"命令 {cmd} 已发送，移动失败。") except Exception as e: logger.error(f"移动失败: {str(e)}") return return_msg(f"移动失败: {str(e)}")
- src/nonead_universal_robots_mcp/server.py:568-568 (registration)Registration of the movel_y tool via MCP decorator.@mcp.tool()
- Tool schema/docstring describing parameters: ip (str): robot IP, distance (float): movement distance in meters."""命令指定IP机器人的TCP沿Y轴方向移动 IP：机器人地址 distance：移动距离（米）"""