how to get the result of calling get_inverse_kin_has_solution

[blackhorsewu]

I want to check poses are reachable before moving the robot to it. URScript starting from version 3.15 provide a function get_inverse_kin_has_solution. I know how to send that as a program to the robot but do not know how to get the result if the pose is reachable or not. Any help would be very much appreciated.

[ShanMallinathan]

@blackhorsewu
I could not find this functionality with the urx package but I was able to run this using a socket connection with the robot manually. Follow the below link for more reference
https://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips-cb2-cb3/index.php/universal-robots-script-client-server-example/
Cheers!

[blackhorsewu]

@blackhorsewu I could not find this functionality with the urx package but I was able to run this using a socket connection with the robot manually. Follow the below link for more reference https://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips-cb2-cb3/index.php/universal-robots-script-client-server-example/ Cheers!

@ShanMallinathan Thank you very much for your reply. My problem is how can I read the result? It should be a Boolean, either True or False. How can this be sent back to my PC running python?

[ShanMallinathan]

@blackhorsewu
Store the boolean in a variable in the URScript and send it to the server (PC) using the socket_send_string command. receive it on your PC using recv(). I tried it in the simulator and it worked just fine.

[blackhorsewu]

@blackhorsewu Store the boolean in a variable in the URScript and send it to the server (PC) using the socket_send_string command. receive it on your PC using recv(). I tried it in the simulator and it worked just fine.

@ShanMallinathan
Thank you very much and I will try it.