PTP movements not working

[axkoenig]

Hello,

thanks for this software! The real-time control tutorial works well. However, now I am trying to do a simple PTP movement with the iiwaPy toolbox. It seems that the toolbox waits for a response forever. How can I solve this?

This is my code:

from sunrisePy import sunrisePy
import time 

ip='172.31.1.147'
iiwa=sunrisePy(ip)
time.sleep(4)

pi = 3.1415
rel_vel = [0.15]
iiwa.movePTPJointSpace([0,0,0,-pi/2,0, -pi/2,0], rel_vel)
iiwa.movePTPHomeJointSpace(rel_vel)

iiwa.close()

And this the error message (I quit execution after a while with Ctrl + C):

python /home/USER/iiwaPy/python_client/test.py
^CTraceback (most recent call last):
  File "/home/USER/iiwaPy/python_client/test.py", line 19, in <module>
    iiwa.movePTPJointSpace([0,0,0,-pi/2,0, -pi/2,0], rel_vel)
  File "/home/USER/iiwaPy/python_client/sunrisePy.py", line 32, in movePTPJointSpace
    self.ptp.movePTPJointSpace(jpos,relVel)
  File "/home/USER/iiwaPy/python_client/PTP.py", line 255, in movePTPJointSpace
    self.send(command)
  File "/home/USER/iiwaPy/python_client/PTP.py", line 22, in send
    self.mysoc.receive()
  File "/home/USER/iiwaPy/python_client/mySock.py", line 33, in receive
    data = self.sock.recv(1)                     
KeyboardInterrupt

Has this python toolbox been tested and is ready to be used? Or do you recommend to stick with your Matlab Client for the KST for now?

Thanks for the help, Alex

[wafflecat]

Did you manage to find a solution? I'm experiencing the same problem.

[axkoenig]

Unfortunately I didn’t find a solution. I just used the Matlab Toolbox instead. But would much rather implement it in python...

[Modi1987]

Hi guys:

The cod in here was not complete, I updated the PTP motion class, now it works fine, check Tutorial_PTPmotion.py for an example.

Cheers!