nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:774-816 (handler)

  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)}")