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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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Compatibility with UR3 and polyscope 3.3.3.292 #30

Open WbHappy opened 6 years ago

WbHappy commented 6 years ago

Hello,

First, let me thank you for this python UR wrapper it is honestly a blessing given how easy it is to program in Python !

I recently got a UR3 arm and before asking I tested this wrapper with my arm. The get_robot.py example seems to work and when I print the robot object I get this : Robot object is available as robot or r Robot Object (IP=192.168.0.149, state={'isSecurityStopped': False, 'speedScaling': 1.0, 'isProgramPaused': True, 'timestamp': 2766576000, 'isRealRobotEnabled': True, 'isRobotConnected': True, 'robotMode': 7, 'isProgramRunning': False, 'isPowerOnRobot': True, 'isEmergencyStopped': False, 'speedFraction': 1.0, 'type': 0, 'controlMode': 0, 'size': 46}) INFO:urx:Closing sockets to robot As specified in the title of this "issue" I am using a UR3 arm with Polyscope 3.3.3.292. Testing other examples like test_all.py moves the arm but I get a urx.urrobot.RobotException: Robot stopped on the python script and on the UR itself I get a C153A2: Protective stop : position deviates from path : Elbow.

The question here is : is this wrapper compatible with an UR3 or with Polyscope 3.3.3.292 (release October 2016). If yes, is there something I am doing wrong ? I also tried the urxui no problem to connect but always failing to control.

I looked a bit for this question before asking, if the answer is already somewhere here I really apologize for that.

Thanks.

MzXuan commented 6 years ago

Hello, I am also testing this wrapper on UR3, with Polyscope 3.3.4.310 (which is newer than 3.3.3.292). I am a newbie to UR3 and python, but it seems this wrapper works with UR3. I have tested movel, movels, movej, speedl and stopj. The only problem I have found is in urrobot.py, speedx function, prog = "{}([{},{},{},{},{},{}], a={}, t_min={})".format(command, *vels) should be changed to prog = "{}([{},{},{},{},{},{}], a={}, t={})".format(command, *vels)

I guess your C153A2 Protective stop is caused by invalid values given to the robot. It may help if you could tell which line/function cause the problem. Also the official explanation of the ur scripts is here, hope this helps.

Sebbenbear commented 6 years ago

Hi, I am running 3.5.2.10778, and I'm also getting the "urx.urrobot.RobotException: Robot stopped." The robot is definitely on and moves, but only for a short time before getting this error - is this a network issue?