draw_square
Draw a square in horizontal or vertical planes by specifying start position and side length. Use this tool to create geometric shapes with industrial robots through coordinate-based commands.
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：画正方形时TCP的起点位置 border：边长（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 | ||
| border | Yes | ||
| coordinate | No | z |
Implementation Reference
- The draw_square tool handler. Decorated with @mcp.tool() for registration in MCP. Calculates waypoints for a square shape based on origin, border length, and coordinate plane, then sends a URScript program to the robot to execute linear movements forming the square.
@mcp.tool() def draw_square(ip: str, origin: list, border: 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：画正方形时TCP的起点位置 border：边长（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] + border wp_2[1] = wp_2[1] + border wp_2[2] = wp_2[2] - border wp_3[2] = wp_3[2] - border else: wp_1[1] = wp_1[1] + border wp_2[1] = wp_2[1] + border wp_2[0] = wp_2[0] + border wp_3[0] = wp_3[0] + border 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_square 发送脚本:\n{cmd}") robot_list[ip].robotConnector.RealTimeClient.SendProgram(cmd) time.sleep(1) 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:730-730 (registration)MCP tool registration decorator for draw_square function.
@mcp.tool() - Tool schema and description in docstring, including parameter descriptions and type hints: ip: str, origin: list, border: float, coordinate: str (default '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：画正方形时TCP的起点位置 border：边长（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。 """