zarifaziz
commented
5 years ago I basically wan't to read data from the ur5 and receive information about the joint angles and the tool position. I am connecting to the robot with the following code:
HOST = "192.168.0.10"
PORT = 30002 # The same port as used by the server
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))
Hey man, Only opening an issue because I wanted to reach out with a question about the UR5. First of all - your UR5 code is amazing and was very helpful :D !
I'm having trouble reading data from the UR5. When I do the following:
msg = s.recv(1024)and print the resulting msg I get the following:b'\x00\x00\x007\x14\xff\xff\xff\xff\xff\xff\xff\xff\xfe\x03\tURControl\x05\x01\x00\x00\x00\x01\x00\x00\x00\x0020-09-2018, 07:45:32\x00\x00\x00\x18\x14\xff\xff\xff\xff\xff\xff\xff\xff\xfe\x0c\x00\x00\x00\x00\x00\x00\x00\x00\x01'I can't figure out how to make sense of this data to get the tool position/ joint position of the UR5. Your get_ur_position() function and the way that it decodes the msg doesn't really work for me. Please help. Thanks. I'm using Python3 but that shouldn't make a difference.