I am using version 5.12 of the offline URSim software for the UR10 (on a Linux Ubuntu 20.04) with my own code, and everything works properly when I run a script that is controlling the robot. However, whenever I try to use getInverseKinematics() in my code, I get the following error message:
RTDEControlInterface: RTDE control script is not running!
Here is an example of code I used to run some tests:
>>>import rtde_control >>>import rtde_receive >>>HOST = "127.0.0.1" >>>GOAL_POS = [-0.18507570121045797, -0.43755157063468963, 0.21101969081827837, -0.06998478570599498, -3.0949971695297402, 0.10056260631290592] >>>control = rtde_control.RTDEControlInterface(HOST) >>>GOAL_COORD = control.getForwardKinematics(GOAL_POS) >>>print(GOAL_COORD) [-1.1954591039150162, 0.23226171709176066, 2.030813827294871, -0.664507533790512, -2.0517813952231, -2.1201251853851155] >>>GOAL_POS = control.getInverseKinematics(GOAL_COORD) RTDEControlInterface: RTDE control script is not running!
In addition to the error message, I also see the popup in the simulator that says: "The robot cannot reach the requested pose. Script function get_inverse_kin is unable to find a solution.
This is curious to me because I have obtained the tool position GOAL_COORD directly from a joint angle position (GOAL_POS) that was valid, and therefore, I would be expecting that converting back an forth would work.
Did I miss anything?