movefasta/aubo-old-sdk-test
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set params

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Falloimitator 2025-05-23 17:13:26 +03:00
parent 68a6c712f9
commit 5eaf077fb7
2 changed files with 19 additions and 4 deletions
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10
main.py
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@ -33,10 +33,12 @@ config = {
def main(): def main():
robot = RobotClient(HOST, PORT) robot = RobotClient(HOST, PORT)
robot.set_joint_maxacc(2) #robot.set_joint_maxacc(3)
robot.set_joint_maxvelc(2) #robot.set_joint_maxvelc(3)
# robot.move_linear_cartesian(config["pre_grasp_position"]) #robot.set_end_max_line_velc(0.6)
robot.move_to_pose(config["pre_grasp_position"]) robot.set_end_max_line_acc(0.8)
robot.move_linear_cartesian(config["pre_grasp_position"])
# robot.move_to_pose(config["pre_grasp_position"])
# robot.move_to_pose(config["grasp_position"]) # robot.move_to_pose(config["grasp_position"])
# robot.move_to_pose(config["post_grasp_position"]) # robot.move_to_pose(config["post_grasp_position"])
robot.close() robot.close()

13
utils.py
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@ -258,6 +258,19 @@ class RobotClient:
ret = self._send_single_json(cmd) ret = self._send_single_json(cmd)
if ret.get("msg") != "succ": if ret.get("msg") != "succ":
raise RuntimeError(f"set_joint_maxvelc failed: {ret}") raise RuntimeError(f"set_joint_maxvelc failed: {ret}")
def set_end_max_line_velc(self, vel: float):
cmd = {"command": "set_end_max_line_velc", "end_maxvelc": vel}
ret = self._send_single_json(cmd)
if ret.get("msg") != "succ":
raise RuntimeError(f"set_end_max_line_velc failed: {ret}")
def set_end_max_line_acc(self, vel: float):
cmd = {"command": "set_end_max_line_acc", "end_maxacc": vel}
ret = self._send_single_json(cmd)
if ret.get("msg") != "succ":
raise RuntimeError(f"set_end_max_line_acc failed: {ret}")
def close(self): def close(self):
self.sock.close() self.sock.close()