UR10 Not Moving

[mrodri10]

Hello Robin,

I hope this message finds you well. I am currently using an UR10e with the software URSoftware 5.12.0.1101482.
I have followed all the steps in your video however I dont have any movement from the robot.

Thank you for your support!
Maurice

[Libellule35]

On my side, I am using VSC/Python 3.12

You can try to change the end of code:
except:
robot.close()

by :
except Exception as e:
print("closing robot except",e)
robot.close()
cv2.destroyAllWindows()

So may be you will see the following error:
closing robot except: type object 'Transform' has no attribute 'get_pose_vector'

[Jp-Beck]

Have you changed your Robot to auto mode from manual mode? Also, make sure that the robot joints are not close to singularity.

[Libellule35]

I have just change the robot_startposition with the following value (better for my cobot orientation):
robot_startposition = (math.radians(-90),
math.radians(-63),
math.radians(-93),
math.radians(-20),
math.radians(88),
math.radians(0))
The cobot move to that position, and after error on:
closing robot except: type object 'Transform' has no attribute 'get_pose_vector'
Just exeption modification that you can find on my previous message (and cv2.destroyAllWindows() added @ the end)
math3d seams to be the root cause...
oriented_xyz_coord = oriented_xyz.get_pose_vector()

[Libellule35]

Here is the fixing:

• Do not use math3d form pip command, but from https://gitlab.com/morlin/pymath3d
• pip uninstall math3d
• copy math3d from github to your source folder

[mrodri10]

Hello all,
Thank you for the support. I will go ahead and test the different solutions you provided and come back with feedback !
Have a nice weekend team!

[robin-gdwl]

Hello Maurice,
Sorry for the late reply, have you been able to fix the issue with the solutions mentioned here?