I'm using the Matlab API for Python because I want to use the robotics toolbox.

Question

Janith Jinadasa 2017-4-5

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/333803-i-m-using-the-matlab-api-for-python-because-i-want-to-use-the-robotics-toolbox

评论： Arpeet Sojitra 2021-8-19

The function I made works fine on Matlab but isn't working on Python.

Matlab function

function [values_rad]= CapstoneRobot(x, y, z, th1, th2, th3, th4, th5)
d1 = 14; a2 = 22; a3 = 22; a5=5;
 position = transl(x, y, z);
 L1 = link([pi/2 0 0 14]);
 L2 = link([0 22 0 0]);
 L3 = link([pi/2 0 0 0]);
 L4 = link([pi/2 0 0 22]);
 L5 = link([0 5 0 0]); 
 RRR_EX = robot({L1 L2 L3 L4 L5});
   ic = double([th1 th2 th3 th4 th5]);
   values_rad = double(ikine(RRR_EX, position, ic, [1 1 1 1 1 0]));

the Python code

    import matlab.engine
      eng = matlab.engine.start_matlab()
      t= eng.CapstoneRobot(16, 16, 16, 0.7854, 1.1111, -0.8795, 0, -0.0704)
      print(t)

Error

    Traceback (most recent call last):
      File "C:/Users/Jinadasa_J/Desktop/Ishira/Maty.py", line 4, in <module>
        t= eng.CapstoneRobot(16, 16, 16, 0.7854, 1.1111, -0.8795, 0, -0.0704)
      File "C:\Python27\lib\site-packages\matlab\engine\matlabengine.py", line 84, in __call__
        _stderr, feval=True).result()
      File "C:\Python27\lib\site-packages\matlab\engine\futureresult.py", line 68, in result
        return self.__future.result(timeout)
      File "C:\Python27\lib\site-packages\matlab\engine\fevalfuture.py", line 82, in result
        self._result = pythonengine.getFEvalResult(self._future,self._nargout, None, out=self._out, err=self._err)
    MatlabExecutionError: 
      File C:\Program Files\MATLAB\R2017a\toolbox\robot\tr2diff.m, line 38, in tr2diff
      File C:\Program Files\MATLAB\R2017a\toolbox\robot\ikine.m, line 98, in ikine
      File C:\Users\Jinadasa_J\Desktop\Ishira\CapstoneRobot.m, line 12, in CapstoneRobot
*Integers can only be combined with integers of the same class, or scalar doubles*

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Answer 1

Robert Snoeberger 2017-4-6

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/333803-i-m-using-the-matlab-api-for-python-because-i-want-to-use-the-robotics-toolbox#answer_262003

在 MATLAB Online 中打开

Based on the complaint about integers in the error message, I'm guessing that you need to make everything floats (add decimal point) when you call CapstoneRobot.

t = eng.CapstoneRobot(16.0, 16.0, 16.0, 0.7854, 1.1111, -0.8795, 0.0, -0.0704)

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Arpeet Sojitra 2021-8-19

Thank you very much because I am getting similar error but I forgot to add decimal points in my script and I have also four script but I didn't use decimal points but still works. I don' know why??

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