API reference

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Wrapper module

class ur_rtde_api.UR_RTDE(HOST: str = '192.168.1.7', FREQUENCY_HZ: float = 25.0, FIELD: Sequence[str] | None = None, *, TIMEOUT: float = 2.0, PROTOCOL_VERSION: int = 2, READBACK_WRITES: bool = True)

Bases: URRobot

Very small user-facing RTDE API.

Example

robot = UR_RTDE(HOST=DEFAULT_HOST, FREQUENCY_HZ=25, FIELD=[“time”, “q”, “tcp”, “gp.int.0”]) robot.start() print(robot[“q”]) robot[“gp.int.0”] = 33 robot.stop() robot.close()

Notes

• FIELD contains both readable fields and writable GP input fields.

• gp.int.0 -> input_int_register_24

• gp.double.0 -> input_double_register_24

• gp.bit.0 -> input_bit_register_64

• Direct UR numbering also works, for example gp.int.24 and gp.bit.64.

property FIELD: Tuple[str, ...]

property FREQUENCY_HZ: float

property HOST: str

class ur_rtde_api.URRobot(host: str = '192.168.1.7', *, frequency_hz: float = 25.0, fields: Sequence[str] | None = None, writes: Sequence[str] | None = None, timeout: float = 2.0, protocol_version: int = 2, readback_writes: bool = True)

Bases: object

Small RTDE core focused on frequency, fields, and writable areas.

can_write(name: str) → bool

close() → None

async close_async() → None

configure(*, frequency_hz: float | None = None, fields: Sequence[str] | None = None, writes: Sequence[str] | None = None) → None

connect() → Tuple[int, int, int, int]

async connect_async() → Tuple[int, int, int, int]

property controller_version: Tuple[int, int, int, int] | None

digital_input(bit: int) → bool

digital_output(bit: int) → bool

property fields: Tuple[str, ...]

property frame: RobotFrame

property frame_index: int

has(name: str) → bool

property input_fields: Tuple[str, ...]

property is_connected: bool

property is_streaming: bool

joint_deg() → Tuple[float, ...]

latest_frame() → RobotFrame

property output_fields: Tuple[str, ...]

pause() → None

q_deg() → Tuple[float, ...]

read(name: str, default: ~typing.Any = <object object>) → Any

reader_rates() → Dict[str, float]

set_speed_slider(fraction: float, *, settle_s: float = 0.1, release_mask: bool = True) → float

snapshot() → Dict[str, Any]

speed_slider_state() → Dict[str, Any]

start(*, wait_ready: bool = True, ready_timeout: float | None = None) → None

async start_async(*, wait_ready: bool = True, ready_timeout: float | None = None) → None

stop() → None

async stop_async() → None

tcp_mm() → Tuple[float, float, float, float, float, float]

tcp_mm_deg() → Tuple[float, float, float, float, float, float]

tcp_pose(mode: str = 'rotvec_rad') → Tuple[float, float, float, float, float, float]

Return TCP pose converted for display.

mode:

• “rotvec_rad”: [x_mm, y_mm, z_mm, rx, ry, rz]

• “rotvec_deg”: [x_mm, y_mm, z_mm, rx_deg, ry_deg, rz_deg]

• “rpy_rad”: [x_mm, y_mm, z_mm, roll, pitch, yaw]

• “rpy_deg”: [x_mm, y_mm, z_mm, roll_deg, pitch_deg, yaw_deg]

tcp_rpy() → Tuple[float, float, float, float, float, float]

tcp_rpy_deg() → Tuple[float, float, float, float, float, float]

unit_of(name: str) → Any

wait_next_frame(*, last_frame_index: int | None = None, timeout: float | None = None) → RobotFrame

async wait_next_frame_async(*, last_frame_index: int | None = None, timeout: float | None = None) → RobotFrame

wait_ready(timeout: float | None = None) → RobotFrame

async wait_ready_async(timeout: float | None = None) → RobotFrame

write(name: str, value: Any) → None

write_many(values: Dict[str, Any], *, flush: bool | None = None) → None

property writes: Tuple[str, ...]

class ur_rtde_api.RobotFrame(values: 'Dict[str, Any]', frame_index: 'int', robot_timestamp_s: 'Optional[float]', received_monotonic_s: 'float', received_wall_time_s: 'float', source_frequency_hz: 'float')

Bases: object

age_ms(now_monotonic: float | None = None) → float

age_s(now_monotonic: float | None = None) → float

as_dict() → Dict[str, Any]

get(name: str, default: Any = None) → Any

to_json(*, indent: int = 2) → str

values: Dict[str, Any]

frame_index: int

robot_timestamp_s: float | None

received_monotonic_s: float

received_wall_time_s: float

source_frequency_hz: float

ur_rtde_api.rad_to_deg(values: Any) → Any

ur_rtde_api.rotvec_to_rpy(rotvec: Sequence[float]) → Tuple[float, float, float]

Convert UR rotation vector [rx, ry, rz] to RPY [roll, pitch, yaw] in radians.

Uses the same convention documented by Universal Robots for rotvec2rpy(): R = Rz(yaw) * Ry(pitch) * Rx(roll).

Core RTDE module

class backend.ur_robot.RobotFrame(values: 'Dict[str, Any]', frame_index: 'int', robot_timestamp_s: 'Optional[float]', received_monotonic_s: 'float', received_wall_time_s: 'float', source_frequency_hz: 'float')

Bases: object

values: Dict[str, Any]

frame_index: int

robot_timestamp_s: float | None

received_monotonic_s: float

received_wall_time_s: float

source_frequency_hz: float

get(name: str, default: Any = None) → Any

age_s(now_monotonic: float | None = None) → float

age_ms(now_monotonic: float | None = None) → float

as_dict() → Dict[str, Any]

to_json(*, indent: int = 2) → str

class backend.ur_robot.URRobot(host: str = '192.168.1.7', *, frequency_hz: float = 25.0, fields: Sequence[str] | None = None, writes: Sequence[str] | None = None, timeout: float = 2.0, protocol_version: int = 2, readback_writes: bool = True)

Bases: object

Small RTDE core focused on frequency, fields, and writable areas.

property controller_version: Tuple[int, int, int, int] | None

property fields: Tuple[str, ...]

property writes: Tuple[str, ...]

property output_fields: Tuple[str, ...]

property input_fields: Tuple[str, ...]

property is_connected: bool

property is_streaming: bool

property frame: RobotFrame

property frame_index: int

configure(*, frequency_hz: float | None = None, fields: Sequence[str] | None = None, writes: Sequence[str] | None = None) → None

connect() → Tuple[int, int, int, int]

async connect_async() → Tuple[int, int, int, int]

start(*, wait_ready: bool = True, ready_timeout: float | None = None) → None

async start_async(*, wait_ready: bool = True, ready_timeout: float | None = None) → None

stop() → None

pause() → None

async stop_async() → None

close() → None

async close_async() → None

wait_ready(timeout: float | None = None) → RobotFrame

async wait_ready_async(timeout: float | None = None) → RobotFrame

wait_next_frame(*, last_frame_index: int | None = None, timeout: float | None = None) → RobotFrame

async wait_next_frame_async(*, last_frame_index: int | None = None, timeout: float | None = None) → RobotFrame

latest_frame() → RobotFrame

snapshot() → Dict[str, Any]

has(name: str) → bool

can_write(name: str) → bool

read(name: str, default: ~typing.Any = <object object>) → Any

write_many(values: Dict[str, Any], *, flush: bool | None = None) → None

write(name: str, value: Any) → None

set_speed_slider(fraction: float, *, settle_s: float = 0.1, release_mask: bool = True) → float

speed_slider_state() → Dict[str, Any]

q_deg() → Tuple[float, ...]

joint_deg() → Tuple[float, ...]

tcp_pose(mode: str = 'rotvec_rad') → Tuple[float, float, float, float, float, float]

Return TCP pose converted for display.

mode:

• “rotvec_rad”: [x_mm, y_mm, z_mm, rx, ry, rz]

• “rotvec_deg”: [x_mm, y_mm, z_mm, rx_deg, ry_deg, rz_deg]

• “rpy_rad”: [x_mm, y_mm, z_mm, roll, pitch, yaw]

• “rpy_deg”: [x_mm, y_mm, z_mm, roll_deg, pitch_deg, yaw_deg]

tcp_mm() → Tuple[float, float, float, float, float, float]

tcp_mm_deg() → Tuple[float, float, float, float, float, float]

tcp_rpy() → Tuple[float, float, float, float, float, float]

tcp_rpy_deg() → Tuple[float, float, float, float, float, float]

unit_of(name: str) → Any

digital_input(bit: int) → bool

digital_output(bit: int) → bool

reader_rates() → Dict[str, float]

class backend.ur_robot.UR_RTDE(HOST: str = '192.168.1.7', FREQUENCY_HZ: float = 25.0, FIELD: Sequence[str] | None = None, *, TIMEOUT: float = 2.0, PROTOCOL_VERSION: int = 2, READBACK_WRITES: bool = True)

Bases: URRobot

Very small user-facing RTDE API.

Example

robot = UR_RTDE(HOST=DEFAULT_HOST, FREQUENCY_HZ=25, FIELD=[“time”, “q”, “tcp”, “gp.int.0”]) robot.start() print(robot[“q”]) robot[“gp.int.0”] = 33 robot.stop() robot.close()

Notes

• FIELD contains both readable fields and writable GP input fields.

• gp.int.0 -> input_int_register_24

• gp.double.0 -> input_double_register_24

• gp.bit.0 -> input_bit_register_64

• Direct UR numbering also works, for example gp.int.24 and gp.bit.64.

property HOST: str

property FREQUENCY_HZ: float

property FIELD: Tuple[str, ...]

backend.ur_robot.expand_fields(tokens: Sequence[str]) → List[str]

backend.ur_robot.expand_output_fields(tokens: Sequence[str]) → List[str]

backend.ur_robot.normalize_token(token: str) → str

backend.ur_robot.rad_to_deg(values: Any) → Any

backend.ur_robot.rotvec_to_rpy(rotvec: Sequence[float]) → Tuple[float, float, float]

Convert UR rotation vector [rx, ry, rz] to RPY [roll, pitch, yaw] in radians.

Uses the same convention documented by Universal Robots for rotvec2rpy(): R = Rz(yaw) * Ry(pitch) * Rx(roll).

backend.ur_robot.probe_rtde_compatibility(host: str, *, frequency_hz: float, fields: Sequence[str], protocol_version: int = 2, timeout: float = 2.0, base_fields: Sequence[str] | None = None) → Dict[str, Any]