JAKA Zu 12 Communication

• 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

Preparation

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

Usage

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'