RTDE Command returns integer

Technical Questions URScript
1

Hi Guys,
I am beginner in UR and socket programming. I am trying to remotely control UR using primary interface and RTDE. I manager to figure out primary interface but have problem with RTDE.

When I send some command with socket it always returns integer value instead of coordinates or boolean. For example:
get_actual_tcp_pose() ---- Should return the current actual TCP vector [X, Y, Z, Rx, Ry, Rz], but it returns integer >>> 21

The same with digital input command:
get_standart_digital_in(1) returns integer >>> 26.

Does anybody has an idea how to solve this problem?
Thanks in advance.
Giorgi

The script looks like this:

import socket

class RobotConnection:
def init(self, IP, PORT):
self.IP = IP
self.PORT = PORT
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

def connect(self):
    self.s.connect((self.IP, self.PORT))
    print('connected successfully')

class RTDE(RobotConnection):
def init(self, IP, PORT):
super().init(self, IP, PORT)

def get_tcp_pose(self):
    tcp = self.s.send('get_actual_TCP_pose()'.encode())
    return(tcp)

if name == ‘main’:
rtde = RTDE(‘’, 30004)
rtde.connect()
print(rtde.get_tcp_pose())

21

2

Any Ideas about this?