Changes in config.xml file returning error

[ssvision]

Hi @MGross21 , I wanted to add a couple more API to retrieve joint torques and TCP forces. I wrote the appropriate code by referring to the ur rtde library that you had mentioned. I made changes in three places as required.

The first one in armctl>universal_robots>protocols>rtde.py

I wrote the appropriate functions by referring here. Attaching a screenshot also for your reference.

I added the respective API's in armctl>universal_robots>universal_robots.py

Lastly, I made changes in the armctl>universal_robots>protocols>config.xml file

On running the below code, I am running into error.

with UR5e(robot_ip) as robot:
    # robot.JOINT_RANGES = [(-2 * PI, 2 * PI) for _ in range(robot.DOF)]

    robot.get_joint_positions()
    robot.get_cartesian_position()
    robot.get_joint_torques()
    robot.get_tcp_forces()

I tried removing get_joint_torques() and get_tcp_forces() and only check for joint position and cartesian pose. I was still getting the same error. Upon some trial and error and reverting back to my previous commits, I found that if the config.xml was changed, it threw the same errors.

Is there anything I am missing in my workflow? Requesting you to look into this @MGross21

[MGross21]

Hello @ssvision ! From what I can see your changes look completely fine from a first glance however, I will take a deeper look into it and the underlying library in the morning.

In the meantime, can you send me a snippet of the error message that you are getting? Does the library work prior to any changes to the xml and only changes are breaking something?

[ssvision]

yes the library works prior to changing xml as i can see if i revert back to my previous commit which does not include any change in the xml file. anyway here's a screenshot of the error.

here's a screenshot of the rtde.py file as well

[MGross21]

@ssvision Looking at an example from the official RTDE Python library, it doesn't look like actual_current_as_torque is available despite it being listed in the documentation. Do you think that target_moment can give you a similar outcome?

Feel free to open a PR (as a draft or ready to review), and I can look at all your changes.

[ssvision]

@MGross21 But the official document shows that actual_current_as_torque is available. Anyway will open a PR shortly

[MGross21]

@ssvision Yes, I know, it's frustrating. However, I traced the error you got back to the source code and it is thrown because one of the field names does not exist. I don't know which one but I was unable to find that specific one in any sample code.

Feel free to open the pr and I will double check with whatever I can find. 👍

[MGross21]

@ssvision Okay, so I took another look and it seems like actual_current_as_torque was only introduced in version 5.23.X on August 28th 2025. Double-check what version of PolyScope you have and let me know.

[ssvision]

Hi @MGross21 , The Polyscope shows Universal Robots Software 5.13.0. I believe the software version mismatch is causing errors. Let me look at the documentation and do some tinkering. Will post more results then.

[MGross21]

@ssvision bumping to see if this was ever resolved on your end. Happy to take any existing code as a PR, even if unfinished.