search

SintefManufacturing / python-urx

Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/
GNU Lesser General Public License v3.0
519 stars 272 forks source link

does urx give joint speed? #31

Open MzXuan opened 6 years ago

MzXuan commented 6 years ago

Hi, I'm now using this driver to control UR3, and I also need joint speed data. The joint position data can get fromget_joint_data function in ursecmon.py, but seems there is no method to get the joint velocity. Could anyone help with this?

Thanks

oroulet commented 6 years ago

call get_all_data(). If data is not there then the robot probably does not expose it...

Mandelbr0t commented 5 years ago

Hoi, you can get the joint speed out of rtmon if you parse more of the return string. For example: self._qActual = np.array(unp[31:37]) self._qTarget = np.array(unp[1:7]) self._tcp_force = np.array(unp[67:73]) self._tcp = np.array(unp[73:79]) self._tcp_speed = np.array(unp[61:67])

for tcp speed (urrtmon.py 166-169). Have a look here: link