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add move_joint method

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This commit is contained in:
Ilya Uraev 2025-05-23 17:44:16 +03:00
parent 5eaf077fb7
commit ae12043a50
1 changed files with 8 additions and 1 deletions
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9
utils.py
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@ -143,7 +143,7 @@ class RobotClient:
def move_to_pose(self, pose: dict): def move_to_pose(self, pose: dict):
joint_start, _, _ = self.get_current_waypoint() joint_start, _, _ = self.get_current_waypoint()
joint_target = self.inverse_kin(joint_start, pose["pos"], pose["ori"]) joint_target = self.inverse_kin(joint_start, pose["pos"], pose["ori"])
self.move_line(joint_target) self.move_joint(joint_target)
def add_waypoint(self, joint_radian: list): def add_waypoint(self, joint_radian: list):
cmd = {"command": "add_waypoint", "joint_radian": joint_radian} cmd = {"command": "add_waypoint", "joint_radian": joint_radian}
@ -205,6 +205,13 @@ class RobotClient:
raise RuntimeError(f"move_line failed: {ret}") raise RuntimeError(f"move_line failed: {ret}")
self.wait_untill_motion_is_done(10.0) self.wait_untill_motion_is_done(10.0)
def move_joint(self, joint_radian: list) -> None:
cmd = {"command": "move_joint", "joint_radian": joint_radian}
ret = self._send_single_json(cmd, 10.0)
if ret.get("ret") != 0:
raise RuntimeError(f"move_joint failed: {ret}")
self.wait_untill_motion_is_done(10.0)
def wait_untill_motion_is_done(self, timeout=10.0): def wait_untill_motion_is_done(self, timeout=10.0):
""" """
Blocks until a callback with addr=9/status=0.0 or code=0/text="RobotMoveControlStopDone." is received, Blocks until a callback with addr=9/status=0.0 or code=0/text="RobotMoveControlStopDone." is received,