nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:730-771 (handler)

  The handler function for the draw_square MCP tool. It constructs waypoints for a square based on the origin, border length, and coordinate plane (z or other), generates a URScript program using movel commands to trace the square, and sends it to the robot via RealTimeClient.SendProgram.

  @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)}")