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?