RTDE client library - Python

Library implements API for Universal Robots RTDE realtime interface.

Full RTDE description is available on Universal Robots documentation site

Project structure

rtde

RTDE core library

• rtde.py: RTDE connection management object

• rtde_config.py: XML configuration files parser

• csv_writer.py, csv_reader.py: read and write rtde data objects to text csv files

examples

• record.py - example of recording realtime data from selected channels.
• example_control_loop.py - example for controlling robot motion. Program moves robot between 2 setpoints. Copy rtde_control_loop.urp to the robot. Start python script before starting program.
• example_plotting.py - example for using csv_reader, and plotting selected data.

Running examples

It's recommended to run examples in virtual environment or devcontainer.

# Example for recording realtime data from the robot
# NOTE: RTDE interface has to be enabled in the robot security settings
cd examples
python record.py -h
python record.py --host 192.168.0.1 --frequency 10

Using robot simulator in a Docker

RTDE can connect from host system or devcontainer to controller running in a Docker when RTDE port 30004 is forwarded.

# 1. Get latest ursim docker image
docker pull universalrobots/ursim_e-series
# 2. Run docker container: 
docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series
# 3. open vnc client in browser, and confirm safety: http://localhost:6080/vnc.html?host=docker_ip&port=6080

More information about ursim docker image is available on Dockerhub

Using robot simulator in VirtualBox

RTDE can connect from host system to controller running in VirtualBox when RTDE port 30004 is forwarded.

1. Download simulator from Universal Robots support site
2. Run simulator in VirtualBox
3. Open menu Devices->Network Settings
4. Open Advanced settings for NAT
5. Open Port Forwarding
6. Add new rule, setting host, and guest ports to 30004. Leave host, and guest IP fields blank.

Using rtde library

Copy rtde folder to python project or install with

pip install .
# or use pre-built package from github
pip install ./rtde-<version>-release.zip
pip install https://github.com/UniversalRobots/RTDE_Python_Client_Library/releases/download/[version]/rtde-[version]-release.zip

Library is compatible with Python 2.7+, and Python 3.6+

Build release package

mvn package

Using pre-built package with virtual environment

Create virtual environment, and install wheel package

Linux & MacOS

python -m venv venv
source venv/bin/activate
pip install wheel
# Install pre-built rtde package
pip install target/rtde-<version>-release.zip

Windows PowerShell

If Python3 is not installed, then just run python3 from powershell. Microsoft store will launch the installation.

Permission to run scripts in console is needed to activate virtual envrionment.

set-executionpolicy -Scope CurrentUser -ExecutionPolicy Unrestricted
python -m venv venv
venv/Scripts/Activate.ps1
pip install wheel
# Install pre-built rtde package
pip install target/rtde-<version>-release.zip

Using devcontainer

Open project in VSCode and select to "reopen in devcontainer". Execute build command from terminal

Running record.py against simulator:

# first start simulator exposing RTDE port 30004
# docker run --rm -dit -p 30004:30004 -p 5900:5900 -p 6080:6080 universalrobots/ursim_e-series

# in devcontainer terminal type
cd examples
./record.py --host controller --frequency 10 --verbose

Contributor guidelines

Code is formatted with black. Run code formatter before submitting pull request.

# open project in devcontainer
python -m black .