robin-gdwl / UR_Facetracking

Universal Robot Realtime Facetracking with a webcam or a Rasperry Pi camera
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UR10 Not Moving #5

Open mrodri10 opened 10 months ago

mrodri10 commented 10 months ago

Hello Robin,

I hope this message finds you well. I am currently using an UR10e with the software URSoftware 5.12.0.1101482. I have followed all the steps in your video however I dont have any movement from the robot. UR10e

Thank you for your support! Maurice

Libellule35 commented 10 months ago

On my side, I am using VSC/Python 3.12

You can try to change the end of code: except: robot.close()

by : except Exception as e: print("closing robot except",e) robot.close() cv2.destroyAllWindows()

So may be you will see the following error: closing robot except: type object 'Transform' has no attribute 'get_pose_vector'

Jp-Beck commented 10 months ago

Have you changed your Robot to auto mode from manual mode? Also, make sure that the robot joints are not close to singularity.

Libellule35 commented 10 months ago

I have just change the robot_startposition with the following value (better for my cobot orientation): robot_startposition = (math.radians(-90), math.radians(-63), math.radians(-93), math.radians(-20), math.radians(88), math.radians(0)) The cobot move to that position, and after error on: closing robot except: type object 'Transform' has no attribute 'get_pose_vector' Just exeption modification that you can find on my previous message (and cv2.destroyAllWindows() added @ the end) math3d seams to be the root cause... oriented_xyz_coord = oriented_xyz.get_pose_vector()

Libellule35 commented 10 months ago

Here is the fixing:

mrodri10 commented 10 months ago

Hello all, Thank you for the support. I will go ahead and test the different solutions you provided and come back with feedback ! Have a nice weekend team!

robin-gdwl commented 9 months ago

Hello Maurice, Sorry for the late reply, have you been able to fix the issue with the solutions mentioned here?