URScript Error: freedrive_mode takes exactly 0 arguments (2 given))

Technical Questions URScript
1

Hi all,
I am trying to write a UR script program controlled by Python with RTDE that enables me to go from recording movements in freedrive mode to playing the recorded movements with a UR10e. I have got the freedrive_mode working, but I can’t seem to specify the freeAxes parameter (and feature parameter) without the teaching pendant giving the error: freedrive_mode takes exactly 0 arguments (2 given)

The line of code is:
freedrive_mode(freeAxes=[1,1,0,0,0,0], feature=p[0,0,0,0,0,0])

Here is a picture of the problem happening.

Screenshot 2024-05-02 154132
Screenshot 2024-05-02 154132831×637 56 KB

Thanks for your help!
sam

2

What Polyscope version are you using?

The freedrive_mode() function did not accept any arguments before Polyscope version 5.10
See Here:
Changelog 5.10.0: Section Controller
Existing freedrive_mode() script function is extended with 2 new parameters:

So all you need to do is update to Polyscope 5.11 or higher and it should work.

3

Hi robin_gdwl,

I’m running 5.9.3 (Sep 22, 2020). This is definitely the issue! I will give it a try and report.

Thanks so much for your help,

sam

4

Updating the polyscope to 5.16.0 solved my issue.

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