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2002-move_joint.py
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2002-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 <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
"""
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, is_radian=True)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.reset(wait=True)
speed = 50
arm.set_servo_angle(angle=[90, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[90, 0, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[90, -30, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, -30, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, 0, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.reset(wait=True)
speed = math.radians(50)
arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[math.radians(90), 0, math.radians(-60), 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[math.radians(90), math.radians(-30), math.radians(-60), 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, math.radians(-30), math.radians(-60), 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, 0, math.radians(-60), 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, wait=True)
print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
arm.reset(wait=True)
arm.disconnect()