nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:187-213 (handler)

  The handler and registration for the 'connect_ur' MCP tool. This function connects to a UR robot using the provided IP address, initializes the robot model and script extension, stores them in global dictionaries, and verifies the RTDE connection. The @mcp.tool() decorator registers it as a tool, with the function signature and docstring providing the input schema.

  @mcp.tool()
  def connect_ur(ip: str):
      """根据用户提供的IP连接UR
      IP：机器人地址"""
      try:
          host = ip
          global robot_list, robotModle_list
  
          if robot_list.get(ip, "unknown") != "unknown":
              robot_list[ip].robotConnector.close()
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          robotModle = URBasic.robotModel.RobotModel()
          robot = URBasic.urScriptExt.UrScriptExt(host=host, robotModel=robotModle)
          robot_list[ip] = robot
          robotModle_list[ip] = robotModle
  
          if robot_list.get(ip, "unknown") == "unknown" or not robot_list[
              ip].robotConnector.RTDE.isRunning():
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          logger.info(f"连接成功。IP:{host}")
          return return_msg(f"连接成功。IP:{host}")
      except Exception as e:
          logger.error(f"优傲机器人连接失败: {str(e)}")
          return return_msg(f"优傲机器人连接失败: {str(e)}")