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SintefManufacturing / python-urx

Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/
GNU Lesser General Public License v3.0
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Does movej support URSim? #102

Open wly2014 opened 2 years ago

wly2014 commented 2 years ago

Does the movej support URSim? Although I can get the state right, why I always get this error when using movej:

Current tool pose is: [-0.11606565366751193, -0.05602054660042595, -0.01930032084546665, 0.2398069576842853, -0.04788135162036506, 0.04752205982468178] Traceback (most recent call last): File "example_1.py", line 23, in rob.movej((0.1, 0.1, 0.1, 0.1, 0.1, 0.1), 0.5, 0.1) File "/usr/local/lib/python3.6/dist-packages/urx-0.11.0-py3.6.egg/urx/urrobot.py", line 330, in movej self._wait_for_move(joints[:6], threshold=threshold, joints=True) File "/usr/local/lib/python3.6/dist-packages/urx-0.11.0-py3.6.egg/urx/urrobot.py", line 270, in _wait_for_move raise RobotException("Robot stopped") urx.urrobot.RobotException: Robot stopped

thank you very much.

Abner-fu commented 3 months ago

In URsim, you can use the urx library for simulation control. However, because the URsoftware used in URsim does not support setting up the network, the is_running() in the urx library is always judged to be False, so you need to modify the files in the urx (0.11.0) library.

  1. First ensure that URsim can be pinged by the host computer, that is, URsim can communicate with the host computer.
  2. There is an ursecmon.py file in the directory where urx was downloaded. Change this line https://github.com/SintefManufacturing/python-urx/blob/e277ef1a7fb057f9e642a21cd95ade2b4e5a3468/urx/ursecmon.py#L316 to and self._dict["RobotModeData"]["isRobotConnected"] is False \
  3. If you are using URsoftware version >=3.5, refer to https://github.com/SintefManufacturing/python-urx/commit/e1f78ce203dcc8c4f1ed45ccf51e8a105f103912. The author submitted the update, but the update is not reflected in the pip install urx. So you can add these three lines manually.
  4. If you use movel or getl function, you may encounter AttributeError: 'PoseVector' object has no attribute 'tolist' or Caught an unexpected exception: module 'collections' has no attribute 'Iterable'. This is most likely caused by the incorrect math3d version. You can use pip uninstall math3d pip install math3d==3.0.0 to solve
  5. If you encounter the problem of 4 and do not want to change the math3d version, you can refer to the link https://github.com/SintefManufacturing/python-urx/issues/117#issuecomment-1852557635 to solve the problem, but functions such as movec still cannot be used.