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UniversalRobots / RTDE_Python_Client_Library

RTDE client library and examples
BSD 3-Clause "New" or "Revised" License
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When I finish executing sendCustomScriptFile, my subsequent programs cannot proceed. #14

Closed taishinla closed 9 months ago

taishinla commented 10 months ago

Hi team, The following is my python code: import rtde_control import rtde_receive import time rtde_c = rtde_control.RTDEControlInterface("number") rtde_r = rtde_receive.RTDEReceiveInterface("number") print("a") result = rtde_c.sendCustomScriptFile("my.script") ''' The code for my.script is movej(get_inverse_kin(Waypoint_1_p, qnear=Waypoint_1_q), a=1.3962634015954636, v=1.0471975511965976) movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976) ''' print("b") if result: print("true") print("c")

My arms do move to where I want, but the output only print "a"(it stuck at result = rtde_c.sendCustomScriptFile("my.script") this line).

I use another function which is sendCustomScript as follows: import rtde_control import rtde_receive import time rtde_c = rtde_control.RTDEControlInterface("number") rtde_r = rtde_receive.RTDEReceiveInterface("number") print("a") inline_script =""" def script_test():\n global Waypoint_1_p=p[.563680615211, -.477776281521, .931261513423, -.216869564618, .618509619849, -2.027430390457]\n global Waypoint_1_q=[-0.420081917439596, -1.3105357152274628, -1.815070629119873, -0.5506666463664551, 1.5176153182983398, 0.14520569145679474]\n global Waypoint_2_p=p[.709160793559, -.224598873441, .900052191176, -.342416429180, .556536765580, -1.643688525955]\n global Waypoint_2_q=[-0.02563649812807256, -1.3105324667743226, -1.8508906364440918, -0.55081661165271, 1.5176604986190796, 0.14514535665512085]\n movej(get_inverse_kin(Waypoint_1_p, qnear=Waypoint_1_q), a=1.3962634015954636, v=1.0471975511965976)\n movej(get_inverse_kin(Waypoint_2_p, qnear=Waypoint_2_q), a=1.3962634015954636, v=1.0471975511965976)\n end\n run program\n""" result = rtde_c.sendCustomScript(inline_script) print("b") if result: print("true") print("c")

And I get the same as above. My arms do move to where I want, but the output only print "a"(it stuck at result = rtde_c.sendCustomScriptFile("my.script") this line).

michal-milkowski commented 9 months ago

I think you mistaken this project with library from SDU https://github.com/masayuki-kono/ur_rtde