controlling irc5 with Python using EGM (robotstate 1.1)

ofirdva

Hello everyone, 
as written in the topic, I'm trying to send EGM_START_POSE a value to move my end effector to a spacific position and orientation. 
I downloaded the state machine add in which providing TRobEGM module:

       Provides support of using the following Externally Guided Motion (EGM) features:

       - EGM UDP unicast variant (i.e. type of communication), with the following modes:

         - EGM joint mode (for controlling motion).

         - EGM pose mode (for controlling motion).

         - EGM stream mode (for streaming position data).

 I run this program i wrote to initialize the procedure:

MODULE MainModule

    PROC main()

        initializeEGMModule;  ! Initialize the EGM module

        WHILE TRUE DO

            runEGMRoutine;  ! Run the EGM routine to handle external commands

        ENDWHILE

    ENDPROC

ENDMODULE

I have connected the robot to my pc by ethernet cable and after sending command via RWS (like turnning the motors on/off and running basic rapid program) i decided to control it from Python.
this is the script:

import socket

import struct

import time

import math

def main():

    robot_ip = "192.168.125.1"  # Robot controller IP

    port = 6511  # Port for ROB_1 (EGM Pose Mode)

    

    udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

    sequence_id = 1  # Initialize Sequence ID

    # Example Cartesian pose: X (mm), Y (mm), Z (mm), Rx (rad), Ry (rad), Rz (rad)

    position = [300.0, 200.0, 400.0]  # Position (X, Y, Z) in mm

    orientation = [0.0, math.radians(30), math.radians(45)]  # Orientation in radians

    try:

        while True:

            timestamp = time.time()

            # Pack header: Sequence ID (uint32) and timestamp (double)

            header = struct.pack('>I d', sequence_id, timestamp)

            # Pack pose data: X, Y, Z, Rx, Ry, Rz (6 doubles)

            pose_data = struct.pack('>6d', *(position + orientation))

            # Combine header and pose data

            message = header + pose_data

            # Send the UDP packet

            udp_socket.sendto(message, (robot_ip, port))

            print(f"Sent pose: {position + orientation} | Seq ID: {sequence_id}")

            sequence_id = (sequence_id + 1) % (2**32)  # Wrap sequence ID

            time.sleep(0.004)  # Send at 250Hz (4ms)

    except KeyboardInterrupt:

        print("Streaming stopped.")

    finally:

        udp_socket.close()

if __name__ == "__main__":

    main()

After Establishing RWS connection and turning the motors on, I run the rapid program which waits for position and orientation so I run the Python scrupt but the robot stands still. I alreday configured the IP Adresses and Remote Port Numbers. 
Can someone tell what am I missing? 
Thank for the help!