import socket import time import sys HOST = '169.254.63.28' PORT = 30002 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) s.settimeout(1) s.connect((HOST, PORT)) s.send(("get_actual_tcp_pose()"+"\n").encode('utf8')) message = (s.recv(102…

Then it might be that there are 2 rtde.py files (one from SDU package and the one used on this script) and something gets messed up while importing. So the scripts uses this workspace: [image] cags: [rtde_sol1] And the dependencies are inside rtde-2.6.0/rtde folder. Could you try to rename a…

[image] How to process package recieved from port 30002 in Python Technical Questions HI! I’ve recently been trying to receive robot readings from port 30002 using Sockets in Python. I’ve looked into how to process the package received in this thread here: How to proces…

hey thanks, so this works quite well import socket import struct import time HOST = '169.254.63.28' PORT = 30002 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) s.connect((HOST, PORT)) while True: data = s.recv(4096) …

Hey Stefan! I also tried using this method for recieving robot readings, however, this method is outdated, slow and the code is just a tedious mess imo. Therefor i recommend you to use the python interface on port 30004, it’s the RTDE interface and it is much simpler to use and much easier to pull …

Are you using the ur-rtde package for this? I didn’t manage to install it [image] Problem using pip to install RTDE SDU ur_rtde Same Problem here, didn’t find the solution. Cmake is installed though.

Hej again Stefan, I checked that post to install RTDE and even it shows that it is installed and set up VCode, and stuff, I started encountering the same issues as you. I thought that this RTDE package was based on the same RTDE that is given by UR on the link that @emil.madsen has posted here (the…

I did setup Ubuntu 20.04.3 from LinuxVMImages.com . Could you provide me with a simple analog read/write example? (Thats what I am looking for since 3 weeks) Examples — ur_rtde 1.5.5 documentation just reads back the state of the digital output?

For reading, add these lines on the record_configuration.xml (or whatever other file you’re using for the settings: <field name=standard_analog_input0 type=DOUBLE/> <field name=standard_analog_input1 type=DOUBLE/> <field name=standard_analog_output0 type=DOUBLE/> <field name=standard_analog_output…

I don’t use any configuration file, this is my test code, it works quite well import rtde_io import rtde_receive import time rtde_io_ = rtde_io.RTDEIOInterface("169.254.63.28") rtde_receive_ = rtde_receive.RTDEReceiveInterface("169.254.63.28") while True: if rtde_receive_.getDigitalOutState(7…

As soon as I launch this code I get C204A protective stop safety message on the robot. I don’t even understand why the robot starts to move, I can’t see any move commands in the script? #!/usr/bin/env python import argparse import logging import sys sys.path.append('..') import rtde.rtde as rtde i…

[image] stefan.keller: actual_TCP_pose The script only reads the joints and analog I/O from the robot. I have run it on my VM with URSim and no protective stop has happened to me. Is your robot on Automatic or Remote Mode? To me it sounds that you might have something else running on the bac…

Decode return value

Technical Questions URScript

terryc January 13, 2022, 12:10am 2

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