get_rtde_value(key)

Returns the corresponding value of the supplied RTDE output field key.

This function retrieves an RTDE value from the RTDE output buffer, which also can be collected through a client. The RTDE value is one time step behind, therefore it is suggested to make a sync() call, before calling get_rtde_value(key).

Parameters

key: RTDE output field key of value to retrieve. See the complete list of available fields and their corresponding field types:

www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/

Return Value

The type of the return value depends on the key parameter and can be one of the following:

  • bool
    • For RTDE field type: BOOL
  • number - either int or float
    • For RTDE field types: UINT8, UINT32, UINT64, INT32, DOUBLE
  • fixed length list of numbers either int or float
    • For RTDE field types: VECTOR3D, VECTOR6D, VECTOR6INT32, VECTOR6UINT32

Example command:get_rtde_value("target_qd")

  • Example Parameters:

    • key = "target_qd" → retrieve target joint velocities.