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2003-move_joint.py
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2003-move_joint.py
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <[email protected]> <[email protected]>
"""
Description: Move Joint
"""
import os
import sys
import time
import math
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.move_gohome(wait=True)
speed = 50
arm.set_servo_angle(servo_id=1, angle=90, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=3, angle=-60, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=2, angle=-30, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=1, angle=0, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=2, angle=0, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=3, angle=0, speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.move_gohome(wait=True)
speed = math.radians(50)
arm.set_servo_angle(servo_id=1, angle=math.radians(90), speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=3, angle=math.radians(-60), speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=2, angle=math.radians(-30), speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=1, angle=0, speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=2, angle=0, speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.set_servo_angle(servo_id=3, angle=0, speed=speed, is_radian=True, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
arm.move_gohome(wait=True)
arm.disconnect()