def cartesianJog(self, axis):
params= {"relative":True}
pose=Pose()
step = self.jogDistanceBox.value() / 100
step2 = math.radians(jog_increment)
if axis is x or y or z:
pose.position.axis = step/100
if axis is r:
quat = robot.from_euler(step2, 0, 0)
elif axis is p:
quat = robot.from_euler(0, step2, 0)
elif axis is y:
quat = robot.from_euler(0,0,step2)
pose.qorientation = quat
self.execute(Ptp, pose, params)
