I want to obtain the angles of each joint of the robot arm in real-time.

[BK-Kong]

Using the "data_channel.request_data().sdata.jnt_ref" command, I can obtain the angle of the base joint, but I cannot retrieve the angles of the other joints.

jnt_ref contains an array of 6 elements, but they all seem to be overwritten with the base joint’s data.

Is my understanding correct? If so, does this package currently lack the functionality to retrieve the angles of all joints?

(I know how to retrieve the TCP pose using the "tcp_ref" value, but I also want to obtain the joint angles.)

[OEUNSU]

Thanks for letting us know about the issue.

There was an issue about compatibility between pybind11 version lower than 2.12 and numpy version greater than 2.0.

We updated the pybind11 version for Python 3.8 and greater.

Now, rbpodo is compatible with any numpy versions if you are using Python 3.8 and greater. :)

[BK-Kong]

Thanks for the update, @OEUNSU!

The joint angle issue with data_channel.request_data().sdata.jnt_ref occurred when using NumPy 1.23.5 on Python 3.10. Upgrading to NumPy 1.26.4 resolved the problem, and it now works as expected.

Appreciate your support!