Hello,

When I run the record.py example with the --binary argument there is an error.

• run code :
  python .\record.py --binary

• error :
  Traceback (most recent call last): File "...\rtde\examples\record.py", line 78, in <module> writer.writeheader() File "...\.venv\lib\site-packages\rtde\csv_binary_writer.py", line 75, in writeheader self.__file.write(struct.pack(str(len(headerStr)) + 's', headerStr)) struct.error: argument for 's' must be a bytes object

Hi team,

I am using latest RTDE version and running a program which moves the robot head to 165 different positions in a cylindrical pattern with a time delay of 10 seconds after moving to each position. I am using a thread that sends the watchdog for every second to make the connection active. The program is randomly going to infinite loop with the below error.

What could be the possible cause for the infinite loop ?Are we loosing the connection to the controller ? In that case can it be restored automatically ?

“Unknown package command: 0”

File "C:path\RTDE_Python_Client_Library-main\examples\interopTest_CircleTest.py", line 251, in
move_to_exHandle(con, setp, topCenter)
File "C:path\RTDE_Python_Client_Library-main\examples\interopTest_CircleTest.py", line 72, in move_to_exHandle
move_to(con, setp, new_setp)
File "C:path\RTDE_Python_Client_Library-main\examples\interopTest_CircleTest.py", line 85, in move_to
Cur_state = con.receive()
File "C:path\RTDE_Python_Client_Library-main\rtde\rtde.py", line 218, in receive
return self.__recv(Command.RTDE_DATA_PACKAGE, binary)
File "C:path\RTDE_Python_Client_Library-main\rtde\rtde.py", line 320, in __recv
data = self._on_packet(packet_header.command, packet)
File "C:path\RTDE_Python_Client_Library-main\rtde\rtde.py", line 273, in on_packet
log.error("Unknown package command: " + str(cmd))
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 1506, in error
self.log(ERROR, msg, args, **kwargs)
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 1624, in log
self.handle(record)
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 1634, in handle
self.callHandlers(record)
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 1704, in callHandlers
lastResort.handle(record)
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 966, in handle
self.acquire()
File "C:\userPath\AppData\Local\Programs\Python\Python310\lib\logging_init.py", line 917, in acquire
self.lock.acquire()

Seems like RTDE expects you to poll it continuously after you connect if you want fresh data. It'd be good if that was clearly called out in the docs.

If I do this:

rtde.connect()
time.sleep(11)
rtde.receive()

I get errors like received 0 bytes from Controller, probable cause: Controller has stopped or received 0 bytes from Controller. Also, I'll often get two stale messages before it notices the disconnect.

Hi

is_connected() returns a wrong state if no other methods are called on the rtde connection.
In below example, it is retuning true. but it is actually disconnected. It is not cross checking with the controller and returning the object state.

I would like to handle issue 6 with a getConnection method which returns existing connection and if it is not available, it will create a new connection.

rtde.connect()
time.sleep(11)
Print(str(rtde.is_connected()))

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).

Hello,
I try to run the example_control_loop.py, but it always says the variables are in use. (IN_USE).
Have not been able to run it ever. Are there some undocumented requirements?

The record.py example works ! But that does not use any input_variables (input to the UR) so that not failing on 'in use'.

I run it on Windows, with the URSIM UR5 in a Virtual Box.
Clean install, reboot virtual machine, does not seem to help.

netstat shows this: so there are connections to port 30004 but that's directly after restarting so that's normal, i guess.

error:

Any help would be greatly appreciated.
Best Regards,

I've attached a photo of the error. It occurs from the rtde_config.ConfigFile(config_filename) on line 43 of the program.

Any suggestions of points in the right direction are appreciated

Hi, maybe this already works if building it using maven, but I was hoping to use the PyPi package but it seems it does not support Apple Silicon?

Do you have any plans to support this? And/Or do you have a suggested workaround?

README.md mentions it but I don't see it in the repo.

What could cause a socket timeout and how to prevent it?
I am also not sure what information could be useful to debug it, if necessary ask for more details.
It happened after about 10-12 hours of execution.
I already tried to change the default timeout but to no avail.

Traceback (most recent call last):
  File "controller.py", line 288, in <module>
    main()
  File "controller.py", line 263, in main
    state = con.receive()  # <- 100 Hz requests
  File "rtde/rtde.py", line 218, in receive
    return self.__recv(Command.RTDE_DATA_PACKAGE, binary)
  File "rtde/rtde.py", line 306, in __recv
    self.__recv_to_buffer(DEFAULT_TIMEOUT)
  File "rtde/rtde.py", line 341, in __recv_to_buffer
    more = self.__sock.recv(4096)
socket.timeout: timed out

Hi, thanks for your great job.

My gripper is linked to the UR arm via a short line, so how can I control the gripper at the same time by using this tool?

Thanks for your attention and keep waiting for your kind response!

When I use the “ur_rtde” Python package, it prompts “RuntimeError: One of the RTDE input registers are already in use! Currently you must disable the EtherNet/IP adapter, PROFINET, or any MODBUS unit configured on the robot. This might change in the future.”
The error occurs when executing:

import rtde_control
rtde_c = rtde_control.RTDEControlInterface(“192.168.1.8”)

I have already disabled the EtherNet/IP, PROFINET, and MODBUS services in the UR controller, but the issue still persists.
Could you please advise on how to resolve this? This problem needs to be addressed urgently due to project requirements. Thank you!

https://git-scm.com/book/en/v2/Git-Basics-Tagging#_annotated_tags

Hi there,

for some reason I cannot load example urp file on the teach pendant. Could you please share screenshots how does it look like?

Thanks a lot!

https://github.com/UniversalRobots/RTDE_Python_Client_Library/blob/main/setup.py#L27

Client library, and controller code expect at least one output variable before starting data synchronization.
This behavior is both unexpected, and difficult to handle for clients that only want to write input variables.

Proposed solution: TBD, might require code change on RTDE server side.

Meaning this cannot be properly installed as package into virtualenv