nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:187-213 (handler)

  The handler function for the 'connect_ur' MCP tool. It connects to a Universal Robots robot at the specified IP using the URBasic library, manages global robot lists, checks RTDE connection status, and returns success or failure messages.

  @mcp.tool()
  def connect_ur(ip: str):
      """根据用户提供的IP连接UR
      IP：机器人地址"""
      try:
          host = ip
          global robot_list, robotModle_list
  
          if robot_list.get(ip, "unknown") != "unknown":
              robot_list[ip].robotConnector.close()
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          robotModle = URBasic.robotModel.RobotModel()
          robot = URBasic.urScriptExt.UrScriptExt(host=host, robotModel=robotModle)
          robot_list[ip] = robot
          robotModle_list[ip] = robotModle
  
          if robot_list.get(ip, "unknown") == "unknown" or not robot_list[
              ip].robotConnector.RTDE.isRunning():
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          logger.info(f"连接成功。IP:{host}")
          return return_msg(f"连接成功。IP:{host}")
      except Exception as e:
          logger.error(f"优傲机器人连接失败: {str(e)}")
          return return_msg(f"优傲机器人连接失败: {str(e)}")

• src/nonead_universal_robots_mcp/server.py:187-213 (registration)

  The @mcp.tool() decorator registers the connect_ur function as an MCP tool.

  @mcp.tool()
  def connect_ur(ip: str):
      """根据用户提供的IP连接UR
      IP：机器人地址"""
      try:
          host = ip
          global robot_list, robotModle_list
  
          if robot_list.get(ip, "unknown") != "unknown":
              robot_list[ip].robotConnector.close()
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          robotModle = URBasic.robotModel.RobotModel()
          robot = URBasic.urScriptExt.UrScriptExt(host=host, robotModel=robotModle)
          robot_list[ip] = robot
          robotModle_list[ip] = robotModle
  
          if robot_list.get(ip, "unknown") == "unknown" or not robot_list[
              ip].robotConnector.RTDE.isRunning():
              return return_msg(f"优傲机器人连接失败: {ip}")
  
          logger.info(f"连接成功。IP:{host}")
          return return_msg(f"连接成功。IP:{host}")
      except Exception as e:
          logger.error(f"优傲机器人连接失败: {str(e)}")
          return return_msg(f"优傲机器人连接失败: {str(e)}")

• src/nonead_universal_robots_mcp/server.py:82-88 (helper)

  Helper function link_check that invokes connect_ur when robot connection is missing or inactive.

  def link_check(ip):
      """检查连接状态，若连接断开或不存在，则建立连接"""
      if robot_list.get(ip, "unknown") == "unknown" or not robot_list[
          ip].robotConnector.RTDE.isRunning():
          return connect_ur(ip)
      return '连接成功'

• src/nonead_universal_robots_mcp/server.py:188-190 (schema)

  Input schema defined by type hint ip: str and docstring describing the IP parameter.

  def connect_ur(ip: str):
      """根据用户提供的IP连接UR
      IP：机器人地址"""