movel
Send TCP position commands to Universal Robots to move the tool center point linearly to specified coordinates with adjustable speed, acceleration, and blending parameters.
Instructions
发送新的TCP位置到指定IP的机器人，使TCP移动到指定位置，移动期间TCP作直线移动。 IP：机器人地址 pose：TCP位置 a：加速度（米每平方秒） v：速度（米每秒） t：移动时长（秒） r：交融半径（米）
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| ip | Yes | ||
| pose | Yes | ||
| a | No | ||
| v | No | ||
| t | No | ||
| r | No |
Implementation Reference
- The primary handler for the MCP 'movel' tool. It connects to the robot, sends the movel command via robot_list[ip].movel(), waits, and confirms completion using movelConfirm.
@mcp.tool() def movel(ip: str, pose: list, a=1, v=1, t=0, r=0): """发送新的TCP位置到指定IP的机器人，使TCP移动到指定位置，移动期间TCP作直线移动。 IP：机器人地址 pose：TCP位置 a：加速度（米每平方秒） v：速度（米每秒） t：移动时长（秒） r：交融半径（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。") cmd = f"movel(p{pose},{a},{v},{t},{r})" logger.info(f"发送脚本:{cmd}") robot_list[ip].movel(pose, a, v, t, r) time.sleep(1) result = movelConfirm(ip, pose) 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"发送新的TCP位置到指定IP的机器人失败: {str(e)}") return return_msg(f"发送新的TCP位置到指定IP的机器人: {str(e)}") - Helper function called by the movel handler to verify if the robot has reached the target TCP pose after the move, checking position accuracy and program state.
def movelConfirm(ip, pose): """ movel移动的结果确认 1：移动到位 2：移动结束，但是位置不准确 """ loop_flg = True count = 0 while loop_flg: time.sleep(1) current_pose = round_pose(robot_list[ip].get_actual_tcp_pose()) if right_pose_tcp(current_pose, pose): robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: false': return 1 else: robot_list[ip].robotConnector.DashboardClient.ur_running() running = robot_list[ip].robotConnector.DashboardClient.last_respond if running == 'Program running: true': '''尚未移动完成''' continue else: '''移动完成''' count = count + 1 if count > 5: return 2 - Helper utility used in movelConfirm to check if current TCP pose matches target within 10mm tolerance on X,Y,Z.
def right_pose_tcp(current_pose_1, pose): """tcp位置是否一致的校验，这里允许10mm的误差""" if pose[0] + 0.010 >= current_pose_1[0] >= pose[0] - 0.010: if pose[1] + 0.010 >= current_pose_1[1] >= pose[1] - 0.010: if pose[2] + 0.010 >= current_pose_1[2] >= pose[2] - 0.010: return True return False - Helper to round pose coordinates to 3 decimal places, used in movelConfirm for comparison.
def round_pose(pose): """给坐标取近似值，精确到三位小数""" pose[0] = round(pose[0], 3) pose[1] = round(pose[1], 3) pose[2] = round(pose[2], 3) pose[3] = round(pose[3], 3) pose[4] = round(pose[4], 3) pose[5] = round(pose[5], 3) return pose - src/nonead_universal_robots_mcp/server.py:579-579 (registration)The @mcp.tool() decorator registers the movel function as an MCP tool.
@mcp.tool()