AttributeError: 'PoseVector' object has no attribute 'tolist'

[YHt666]

The python version is 3.11. The problem is as follows:
C:\Users\YHT.conda\envs\ur5py311\python.exe E:/UR/myproj1/test.py
tried 11 times to find a packet in data, advertised packet size: -2, type: 3
Data length: 44
tried 11 times to find a packet in data, advertised packet size: -2, type: 3
Data length: 68
tried 11 times to find a packet in data, advertised packet size: -2, type: 3
Data length: 1092
tried 11 times to find a packet in data, advertised packet size: -2, type: 3
Data length: 1418
Traceback (most recent call last):
File "E:\UR\myproj1\test.py", line 10, in
pose = rob.getl() # x,y,z,rx,ry,rz
^^^^^^^^^^
File "C:\Users\YHT.conda\envs\ur5py311\Lib\site-packages\urx\robot.py", line 211, in getl
return t.pose_vector.tolist()
^^^^^^^^^^^^^^^^^^^^
AttributeError: 'PoseVector' object has no attribute 'tolist'

[TrinhNC]

got the same error. have you solved it?

[MathijsNL]

I also got this error.

It seems related to the addition of the math3d library. The following function will also give an error:

rob.getl()

It seems in general there has been some degradation in working with tposes. I will try to dive into it somewhere this or next week.

[MathijsNL]

In the meantime, downgrading to version 0.8.2 works fine if you change this line to False:

MATH3D = False

[axi92]

When you change this line https://github.com/SintefManufacturing/python-urx/blob/0.11.0/urx/robot.py#L211
to:
return t.pose_vector.get_array().tolist()
it works again.

[jorge5a]

It didn't works with this change
return t.pose_vector.get_array().tolist()

I use the last version. Another idea?

[YHt666]

I have chosen another package called Universal_Robots_ROS_Driver. No problems so far. You can try it out. Good luck!

[FLandolt]

In the meantime, downgrading to version 0.8.2 works fine if you change this line to False:

MATH3D = False

HI this worked but have you found a better solution in the mean time ? :D

[n4z3r]

Please fix!! I got it too

[n4z3r]

In the meantime, downgrading to version 0.8.2 works fine if you change this line to False:

MATH3D = False

HI this worked but have you found a better solution in the mean time ? :D

This does not allow movej to work. It lets movel to work though. We need all functionality please.

[se-hwan]

Also had this issue, but fixed it in urx version 0.11.0 with the following fix:

In addition to the fix here: #117 (comment), which addresses using the getl() method, this should address using the movel() and translate() methods for the UR5 arms.

Change this line:

python-urx/urx/urrobot.py

Line 313 in c5dba85

prog = self._format_move(command, tpose, acc, vel, prefix="p")

to this: prog = self._format_move(command, tpose.array, acc, vel, prefix="p")

Similarly, modify this line:

python-urx/urx/urrobot.py

Line 316 in c5dba85

self._wait_for_move(tpose[:6], threshold=threshold)

to this: self._wait_for_move(tpose.array[:6], threshold=threshold)

tpose seems to originally have been some iterable data structure, but is now a PoseVector class from the m3d package. Calling the array method on this class returns an iterable list, which is what the urx methods seem to expect.

It's likely you'll get a constant stream of terminal output warning about deprecation with the dist_squared() function. I commented out this warning in line 280 of vector.py in the math3d package (wherever it is in your virtual environment, system folder, etc.) to suppress this.

I tested that the movel() and translate() functions work, but it still causes an error with the translate_tool() function. Generally, I think a lot of code needs to be refactored to make everything work smoothly with the m3d libraries, but hope this helps.

[zp2546265641]

Also had this issue, but fixed it in urx version 0.11.0 with the following fix:

In addition to the fix here: #117 (comment), which addresses using the getl() method, this should address using the movel() and translate() methods for the UR5 arms.

Change this line:

python-urx/urx/urrobot.py

Line 313 in c5dba85

prog = self._format_move(command, tpose, acc, vel, prefix="p")

to this: prog = self._format_move(command, tpose.array, acc, vel, prefix="p")
Similarly, modify this line:

python-urx/urx/urrobot.py

Line 316 in c5dba85

self._wait_for_move(tpose[:6], threshold=threshold)

to this: self._wait_for_move(tpose.array[:6], threshold=threshold)
tpose seems to originally have been some iterable data structure, but is now a PoseVector class from the m3d package. Calling the array method on this class returns an iterable list, which is what the urx methods seem to expect.

It's likely you'll get a constant stream of terminal output warning about deprecation with the dist_squared() function. I commented out this warning in line 280 of vector.py in the math3d package (wherever it is in your virtual environment, system folder, etc.) to suppress this.

I tested that the movel() and translate() functions work, but it still causes an error with the translate_tool() function. Generally, I think a lot of code needs to be refactored to make everything work smoothly with the m3d libraries, but hope this helps.
great work you do! happy!