RTDE Reading TCP Poses in Python

Technical Questions Robot Communication
1

Hi,
I’m trying to output the actual_TCP_pose (VECTOR6D variable type) into my python terminal so that I can see exactly where the TCP is at all moments while it moves. I’m not that big a programming buff, but I’m having trouble trying to convert it into list setting so that I can print the list out. This should be plausible as I am able to continuously output actual_executable_time (a DOUBLE variable type). Any help or comment on how to do this would be much appreciated.

Thank you, I’ve put my python code down below:

#!/usr/bin/env python

import sys

sys.path.append(’…’)

import rtde.rtde as rtde

import rtde.rtde_config as rtde_config

ROBOT_HOST = ‘192.168.100.101’

ROBOT_PORT = 30004

config_filename = ‘something.xml’

conf = rtde_config.ConfigFile(config_filename)

output_names, output_types = conf.get_recipe(‘output’)

input_names, input_types = conf.get_recipe(‘input’)

con = rtde.RTDE(ROBOT_HOST, ROBOT_PORT)

con.connect()

setup recipes

con.send_output_setup(output_names, output_types)

inputs = con.send_input_setup(input_names, input_types)

#start data synchronization

if not con.send_start():

sys.exit()

input print out (SET)

#inputs.input_double_register_24 = 556.044

#print(“inputs : %.13f”%inputs.input_double_register_24)

#on.send(inputs)

keep_running = True

output print out (REAL-TIME)

while keep_running:

output1 = con.receive()

output2 = [0,0,0,0,0,0]

output2 = con.receive()

print("outputs in ms : %.13f"%output1.actual_execution_time)

print("outputs TCP pose : %.13f"%output2.actual_q)

con.send_pause()

con.disconnect()

2

Sorry, I figured it out, I simply needed to create singularities in the list like such:

print(“outputs TCP pose : %.13f”%output2.actual_q[0],output2.actual_q[1],output2.actual_q[2],output2.actual_q[3],output2.actual_q[4],output2.actual_q[5])

Thank you,
Allison Haack