- JAKA Zu's SSID: CAB12210392
- JAKA Zu's host ip: 10.5.5.100
- You can use the ethernet port in the box or connect to the wifi to get an IP address assigned(10.5.5.*).
- JAKA Zu's socket server port: 10000
- It will automatically open when running and send runtime data
- Data Structure: Json like structure
Connect your computer with Ethernet Cable to the RJ45 socket inside the controller.
The RJ45 socket at the bottom of the controller will not automatically assign IP address for your computer
To record a trajectory in joint space:
sudo python3 record_teach_traj.py # sudo for socket authorization
It will automatically create a Traj*.txt in ./traj/ folder.
It will show:
press enter to proceed
press 'q' to quit
If you press enter, it will print current joint position and record it.
If you press 'q', it will tell you where the trajectory is saved.
To record a trajectory in TCP center posture:
sudo python3 record_ee_pose.py
Same as above...
To follow a recorded joint space trajectory
sudo python3 follow_traj.py
It will show waiting for connection...
Run the program on JAKA pendant. `press 'b'+enter to proceed'