SAS UR Control Template

Tip

Repository for this template: https://github.com/MarinhoLab/sas_ur_control_template
More information about SmartArmStack is available in https://smartarmstack.github.io/.

This is a control template for Universal Robots robotic manipulators. It relies on sas_robot_driver_ur to communicate with the robot via URCL.

Docker

Sample containers for real robot and simulated robot motion are available. Those can be tested without cloning this repository. For more advanced use, users are advised to clone and modify the sample cpp code in src or the sample Python code in scripts.

Real robot

Caution

For using the real robot, you must have the risk assessments in place. This guide is meant to be helpful but holds absolutely no liability whatsoever. More details are available in the software license.

Warning

This code will move the robot. Be sure that the workspace is free and safe for operation. Be sure that the robot is in a joint configuration in which it will not hit itself or anything around it.

ur_motion_video_watermarked.mp4

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/robot_demo/compose.yml

docker compose up

Important

Be sure that the teaching pendant is in Remote Control mode.

Tip

Use your robot's IP address in ur1_ip. Refer to launch/_real_robot_launch.py.

Real robot and simulation

Important

Consider all information given for the simulation and real robot demos.

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_and_simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/robot_and_simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/robot_and_simulation_demo/compose.yml

xhost +local:root
docker compose up

Simulation

ur3e_jointspace_sim.mp4

Run

mkdir -p ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
cd ~/sas_tutorial_workspace/docker/sas_ur_control_template/simulation_demo
curl -OL https://raw.githubusercontent.com/MarinhoLab/sas_ur_control_template/refs/heads/main/.devel/simulation_demo/compose.yml

xhost +local:root
docker compose up

Configuration

Caution

Changing network settings can increase cybersecurity vulnerabilities. This guide is meant to be helpful but holds absolutely no liability whatsoever. More details are available in the software license.

Universal Robots Software 5.25.0

Tip

Teaching pendant must be in Manual mode.

Necessary settings are shown below.

Enable Networking

Set the network as needed in your application.

• Hamburger -> Settings -> System -> Network -> Static Address

Enable Remote Control

• Hamburger -> Settings -> System -> Remote Control -> Enable

Enable Services

Note

Fewer permissions than these might be sufficient, if so please open an issue.

• Hamburger -> Settings -> System -> Services -> Services

Enabled	Dashboard Server
Enabled	Primary Client Interface
Enabled	Secondary Client Interface
Enabled	Real-Time Client Interface
Enabled	Real-Time Data Exchange (RTDE)
Enabled	Interpreter Mode Socket