nUR MCP Server

Instructions

Implementation Reference

• src/nonead_universal_robots_mcp/server.py:373-384 (handler)

  Handler function decorated with @mcp.tool(), implementing the tool logic by checking connection and retrieving current joint positions via robot_list[ip].get_actual_joint_positions().

  def get_actual_joint_pose(ip: str):
      """获取指定IP机器人的当前关节角度
      IP：机器人地址"""
      try:
          if '连接失败' in link_check(ip):
              return return_msg(f"与机器人的连接已断开。")
          logger.info(f"当前关节姿态 {robot_list[ip].get_actual_joint_positions()}")
          return return_msg(f"当前关节姿态 {robot_list[ip].get_actual_joint_positions()}")
      except Exception as e:
          logger.error(f"TCP位置获取失败: {str(e)}")
          return return_msg(f"TCP位置获取失败: {str(e)}")

• src/nonead_universal_robots_mcp/server.py:373-373 (registration)

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

  def get_actual_joint_pose(ip: str):