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In URsim, you can use the urx library for simulation control. However, because the URsoftware used in URsim does not support setting up the network, the is_running() in the urx library is always judged to be False, so you need to modify the files in the urx (0.11.0) library.
First ensure that URsim can be pinged by the host computer, that is, URsim can communicate with the host computer.
There is an ursecmon.py file in the directory where urx was downloaded. Change this line
to and self._dict["RobotModeData"]["isRobotConnected"] is False \
If you are using URsoftware version >=3.5, refer to e1f78ce. The author submitted the update, but the update is not reflected in the pip install urx. So you can add these three lines manually.
If you use movel or getl function, you may encounter AttributeError: 'PoseVector' object has no attribute 'tolist' or Caught an unexpected exception: module 'collections' has no attribute 'Iterable'. This is most likely caused by the incorrect math3d version. You can use pip uninstall math3d pip install math3d==3.0.0
to solve
Does the
movej
support URSim? Although I can get the state right, why I always get this error when usingmovej
:thank you very much.
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