def example_send_joint_speeds(base):
joint_speeds = Base_pb2.JointSpeeds()
speeds = [10.0, 0, -10.0, 0, 10.0, 0, -10.0]
i = 0
for speed in speeds:
joint_speed = joint_speeds.joint_speeds.add()
joint_speed.joint_identifier = i
joint_speed.value = speed
joint_speed.duration = 0
i = i + 1
print("Sending the joint speeds for 10 seconds...")
base.SendJointSpeedsCommand(joint_speeds)
time.sleep(10)
joint_speeds_stop = Base_pb2.JointSpeeds()
stop = [0, 0, 0, 0, 0, 0, 0]
i = 0
for speed in stop:
joint_speed = joint_speeds_stop.joint_speeds.add()
joint_speed.joint_identifier = i
joint_speed.value = speed
joint_speed.duration = 0
i = i + 1
print("Stopping the robot")
base.SendJointSpeedsCommand(joint_speeds_stop)
def example_send_joint_speeds(e0,base,speeds=[-18, 0, 0, 0, 0, 0, 0],timer=10):
joint_speeds = Base_pb2.JointSpeeds()
# actuator_count = base.GetActuatorCount().count
# The 7DOF robot will spin in the same direction for 10 seconds
# if actuator_count == 7:
# speeds = [-18, 0, 0, 0, 0, 0, 0]
i = 0
for speed in speeds:
joint_speed = joint_speeds.joint_speeds.add()
joint_speed.joint_identifier = i
joint_speed.value = speed
joint_speed.duration = 0
i = i + 1
#print ("Sending the joint speeds for 10 seconds...")
base.SendJointSpeedsCommand(joint_speeds)
t0=time.time()
if timer==0:
return True #robot ist still running and stopped in parent function
else:
while time.time()-t0<timer and e0.is_set()==False: #success_flag_shared.value==False:
time.sleep(0.1)
print ("Stopping the robot")
base.Stop()
return True
def joint_speed_command(base_client_service, j_id, value):
speeds = Base_pb2.JointSpeeds()
act_count = base_client_service.GetActuatorCount()
js = speeds.joint_speeds.add()
js.joint_identifier = j_id
js.value = value
def set_joint_speeds(base,j_speed_setting=5):
#The Function does nothing ...
#j_speed_setting=5 #degrees/second
joint_speeds_=Base_pb2.JointSpeeds()
joint_speeds_.duration=0
for i0 in range(7):
axis0=joint_speeds_.joint_speeds.add()
axis0.joint_identifier=i0
axis0.value=j_speed_setting
axis0.duration=0
base.SendJointSpeedsCommand(joint_speeds_)
def example_send_joint_speeds(base):
joint_speeds = Base_pb2.JointSpeeds()
actuator_count = base.GetActuatorCount().count
# The 7DOF robot will spin in the same direction for 10 seconds
if actuator_count == 7:
speeds = [SPEED, 0, -SPEED, 0, SPEED, 0, -SPEED]
i = 0
for speed in speeds:
joint_speed = joint_speeds.joint_speeds.add()
joint_speed.joint_identifier = i
joint_speed.value = speed
joint_speed.duration = 0
i = i + 1
print("Sending the joint speeds for 10 seconds...")
base.SendJointSpeedsCommand(joint_speeds)
time.sleep(10)
# The 6 DOF robot will alternate between 4 spins, each for 2.5 seconds
if actuator_count == 6:
print("Sending the joint speeds for 10 seconds...")
for times in range(4):
del joint_speeds.joint_speeds[:]
if times % 2:
speeds = [-SPEED, 0.0, 0.0, SPEED, 0.0, 0.0]
else:
speeds = [SPEED, 0.0, 0.0, -SPEED, 0.0, 0.0]
i = 0
for speed in speeds:
joint_speed = joint_speeds.joint_speeds.add()
joint_speed.joint_identifier = i
joint_speed.value = speed
joint_speed.duration = 0
i = i + 1
base.SendJointSpeedsCommand(joint_speeds)
time.sleep(2.5)
print("Stopping the robot")
base.Stop()
return True