Robot is not moving while using RTDE communication

3rd party tools SDU ur_rtde
1

Good day, UR Enthusiasts!

I have a UR7e with PolyScope X (updated from 10.9.0 to 10.11.0). The robot is connected to the network via Ethernet, and the network settings are configured. It’s accessible from another computer (Ubuntu 25 Desktop) on the same network using ping.

On the Teach Pendant, under Settings → Service, only RTDE is enabled.

My goal is to control the robot using Python with either ur_rtde or airo-mono, or a similar library.

Setup

The robot is in Automatic and Remote Mode. The source code of the program on the PC is:

from rtde_control import RTDEControlInterface as RTDEControl
from rtde_receive import RTDEReceiveInterface as RTDEReceive
from rtde_io import RTDEIOInterface as RTDEIO

robot_ip = "some_funny_ip_address" # in the code IP is legit
print("[INFO] Connecting to robot...")

rtde_c = RTDEControl(robot_ip)
rtde_r = RTDEReceive(robot_ip)
rtde_io = RTDEIO(robot_ip)

if rtde_c.isConnected():
    print("[INFO] Connected to robot")
    pose = rtde_r.getActualTCPPose()
    print(f"[INFO] Current TCP Pose: {pose}")

    joint_q = [
        -2.949089357045247e-05,
        -0.34986870525957403,
        1.0806964211271177,
        0.00010632206713058395,
        2.2182762698278697,
        -2.22458730173004,
    ] # Home position
    print("[INFO] Sending moveL command...")
    rtde_c.moveL(joint_q)
    print("[INFO] Motion command sent.")

    rtde_c.stopScript()
    print("[INFO] Control script stopped.")
else:
    print("[ERROR] Failed to connect to robot.")

ur_rtde is installed using uv.

Output of the program:

[INFO] Connecting to robot...
[INFO] Connected to robot
[INFO] Current TCP Pose: [-0.08413651129442616, 0.04764822623896414, 0.2832431089844092, 1.2133899565424517, -1.2123203295532607, -1.2061787208779342]
[INFO] Sending moveL command...
[INFO] Motion command sent.
[INFO] Control script stopped.

Problem

The output suggests that everything is fine and the robot moved, but in reality, it stayed in the same place and didn’t move a centimeter.

I would be very grateful for any help.

2

Hi Ozima

The ur_rtde interface has not yet been tested with the PolyScopeX and the Remote Control feature. If you are using PolyScopeX, you must use the ExternalControl URCapX. And remember to set the FLAG_USE_EXT_UR_CAP the RTDEControlInterface constructor.