modi1987/iiwapy3

Python3 library for controlling Kuka iiwa from an external PC

iiwapy3's Issues

Can not custom TCP

when I define a new trans, I got a error print:"Error could not mount the specified Tool"

Define new base

Hi,

I was wondering if there was a way to define a new base within iiwaPy3. As in I would like to teach the robot a new base through code, allowing it to move parallel to the base. Is there any way to do this within iiwaPy3?

Many thanks for your continued support.

Best wishes,
Sam

No movement using realtime cartesian

Hi,

I am testing using the direct servo tutorials, none of them actually move the robot in cartesian space. I get the initial joint-space movement and feedback on the application on the robot tablet (running Tutorial_directServoCartesian_jPosFeedback.py):
realtime control in Cartesian space initiated
starting DirectServo motion in position control mode
Get the runtime of the DirectServo motion
Stop the DirectServo motion for the stop instruction was sent
realtime control terminated
No movement from the robot, an exception is thrown but with no useful information.

Best,
Alex