draw_rectangle
Draws rectangles or squares on specified planes by defining origin coordinates, width, and height for Universal Robots control through the nUR MCP Server.
Instructions
给定起点位置和边长，在水平或竖直方向画一个正方形 origin：画长方形时TCP的起点位置 width：长（米） height：宽（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 |
|---|---|---|---|
| ip | Yes | ||
| origin | Yes | ||
| width | Yes | ||
| height | Yes | ||
| coordinate | No | z |
Implementation Reference
- The implementation of the 'draw_rectangle' tool handler. Decorated with @mcp.tool(), which registers it with the FastMCP server. The function constructs waypoints for a rectangle based on origin, width, height, and coordinate plane, generates a URScript program using movel commands to trace the rectangle, sends it to the robot via RealTimeClient.SendProgram, and handles connection checks and errors.
@mcp.tool() def draw_rectangle(ip: str, origin: list, width: float, height: float, coordinate="z"): """给定起点位置和边长，在水平或竖直方向画一个正方形 origin：画长方形时TCP的起点位置 width：长（米） height：宽（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 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] wp_2 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] wp_3 = [origin[0], origin[1], origin[2], origin[3], origin[4], origin[5]] if coordinate.lower() == "z": wp_1[1] = wp_1[1] + width wp_2[1] = wp_2[1] + width wp_2[2] = wp_2[2] - height wp_3[2] = wp_3[2] - height else: wp_1[1] = wp_1[1] + width wp_2[1] = wp_2[1] + width wp_2[0] = wp_2[0] + height wp_3[0] = wp_3[0] + height cmd = (f"def my_program():\n" f" movel(p{str(origin)}, a=1, v=0.25)\n" f" movel(p{str(wp_1)}, a=1, v=0.25)\n" f" movel(p{str(wp_2)}, a=1, v=0.25)\n" f" movel(p{str(wp_3)}, a=1, v=0.25)\n" f" movel(p{str(origin)}, a=1, v=0.25)\nend\nmy_program()") logger.info(f"draw_rectangle 发送脚本:\n{cmd}") 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)}")