I control ur5e through socket. Where is the current TCP coordinate of the robot and the hand grip closing width of the robot?

Technical Questions
1

I control ur5e through socket. Where is the current TCP coordinate of the robot and the hand grip closing width of the robot?

self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.tcp_socket.connect((self.tcp_host_ip, self.tcp_port))
state_data = self.tcp_socket.recv(2048)

Like this, state_ Which section of the data returned by data is the current TCP coordinate and which section is the joint coordinate?

My ur version is 5.10

2

You can read the robot position, and access other variables through the Real Time Data Exchange, check out the python examples at the bottom of this article:

https://www.universal-robots.cn/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

3

Thank you.
But according to the work requirements, how can I get this information through socket?