nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:606-629 (handler)

  The handler function for the 'movel_x' MCP tool. It connects to the UR robot via IP, retrieves current TCP pose, adjusts the X coordinate by the given distance, executes movel command, confirms completion using movelConfirm helper, and logs/generates a script representation of the command.

  @mcp.tool()
  def movel_x(ip: str, distance: float):
      """命令指定IP机器人的TCP沿X轴方向移动
      IP：机器人地址
      distance：移动距离（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。")
          pose = robot_list[ip].get_actual_tcp_pose()
          pose[0] = pose[0] + distance
          robot_list[ip].movel(pose)
          time.sleep(1)
          result = movelConfirm(ip, pose)
          cmd = (f"def my_program():\n"
                 f"  movel(p[{'{:.4f}'.format(pose[0])},{'{:.4f}'.format(pose[1])},{'{:.4f}'.format(pose[2])},{'{:.4f}'.format(pose[3])},{'{:.4f}'.format(pose[4])},{'{:.4f}'.format(pose[5])},],0.5,0.25,0,0)\n"
                 f"end\nmy_program()")
          logger.info(f"发送脚本:{cmd}")
          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"移动失败: {str(e)}")
          return return_msg(f"移动失败: {str(e)}")

• src/nonead_universal_robots_mcp/server.py:606-606 (registration)

  The @mcp.tool() decorator registers the movel_x function as an MCP tool, using the function name 'movel_x' and its type hints/docstring for schema.

  @mcp.tool()

• src/nonead_universal_robots_mcp/server.py:157-185 (helper)

  Helper function movelConfirm used by movel_x to verify if the linear move has completed successfully within position tolerance.

  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

• src/nonead_universal_robots_mcp/server.py:106-116 (helper)

  Helper function round_pose used indirectly via movelConfirm to round pose coordinates 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:147-155 (helper)

  Helper function right_pose_tcp used by movelConfirm to check if actual TCP pose matches target within 10mm tolerance.

  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