Created
April 24, 2026 01:37
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Test RTDE connection to UR robot
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| #!/usr/bin/env python3 | |
| import rtde_control | |
| import rtde_receive | |
| import time | |
| ROBOT_IP = "192.168.1.150" | |
| def test_ur_rtde(): | |
| try: | |
| print(f"Connecting to UR5 at {ROBOT_IP}...") | |
| # Connect to receive interface (read robot state) | |
| rtde_r = rtde_receive.RTDEReceiveInterface(ROBOT_IP) | |
| print("✓ Successfully connected to RTDE receive interface") | |
| # Read some basic robot data | |
| actual_q = rtde_r.getActualQ() # Joint positions | |
| actual_tcp = rtde_r.getActualTCPPose() # TCP position | |
| robot_mode = rtde_r.getRobotMode() # Robot mode | |
| print("\n--- Robot State ---") | |
| print(f"Joint positions: {[f'{q:.3f}' for q in actual_q]}") | |
| print(f"TCP pose: {[f'{p:.3f}' for p in actual_tcp]}") | |
| print(f"Robot mode: {robot_mode}") | |
| # Connect to control interface | |
| rtde_c = rtde_control.RTDEControlInterface(ROBOT_IP) | |
| print("\n✓ Successfully connected to RTDE control interface") | |
| print("\n✓ All connections working!") | |
| print("✓ Robot is ready for control") | |
| # Cleanup | |
| rtde_r.disconnect() | |
| rtde_c.disconnect() | |
| return True | |
| except Exception as e: | |
| print(f"\n✗ Error: {e}") | |
| print("\nTroubleshooting:") | |
| print("- Make sure the robot is powered on") | |
| print("- Check that RTDE is enabled on the robot") | |
| print("- Verify IP address is correct") | |
| return False | |
| if __name__ == "__main__": | |
| # First, make sure ur-rtde is installed | |
| try: | |
| import rtde_control | |
| import rtde_receive | |
| except ImportError: | |
| print("ur-rtde not installed. Installing...") | |
| print("Run: pip3 install ur-rtde") | |
| exit(1) | |
| test_ur_rtde() |
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