Python socket send movel and pose_trans doesn't work

Technical Questions
1

hi everyone
i have using python to send movel and movej with posetrans, but it doesn’t work, surely UR receive the send because it respond to me a packet like down there, it will work without a pose_trans, without a base, do i write wrong command or i just missing some thing

base_1 have save in my teachpedant it is a base position that i want to put the box

can anyone told me why it doesn’t work? tks for reading

:pushpin: send URScript: movel(pose_trans(base_1, p[0.043, 0.020, -0.082, 0, 0, 0]), a=0.5, v=0.1, r=0.01)

{‘packet_size’: 1220, ‘robot_time’: 7637.157999999999, ‘joint_positions’: (2.2670693397521973, -1.806674142877096, -2.3529293537139893, -0.7130727928927918, 1.5862281322479248, 2.2838220596313477), ‘tcp_position’: (-0.20500674325817353, 0.5155509857122349, 0.05837970844741498, 2.1756944314507636, -2.217830063987533, 0.24760952496608546), ‘digital_inputs’: 0.0, ‘robot_mode’: 7.0}

:pushpin: send URScript: robotmode

Response from server: Robotmode: RUNNING

2

Hi
My guess would be that base_1 is not defined.
Try replacing base_1 with p[0, 0, 0, 0, 0, 0].

And see if it will run.

1 Like
3

yes it work :laughing:, but i need to use base_1 because it is a pallet base that i need to stack the box, i have save base_1 in teachpedant did u have any idea :grimacing:

4

Which interface are you using to send the script?
https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/

5

i use socket for 29999port dashboard and 30003 real-time, maybe this cannot possible to do maybe :laughing:

6

Features defined in installation are only available to programs stated from polyscope UI, not ones sent directly to socket.

Try using interpreter mode.
Script manual: Interpreter Mode

1 Like
7

I use this sentence for movel with base:
global pose_2=pose_trans(pose_inv(baes_1),get_forward_kin())
movel(pose_trans(base_1, pose_2), a=0.5, v=0.1, r=0.01)