Feat/affordance extension

[jo-bru]

This PR extends the xarm-commander and xarm-grpc-service functionality. The following methods are newly implemented:

Motion related methods:

• SetPosition: additional support for adapting speed, acceleration, arc transitions
• SetServoAngle
• `MoveCircle
• SetPauseTime: to add pause between movements
• GetServoAngles
• LastUsed values: Position, TCPSpeed, TCPAcc, Angles, JointSpeed, JointAcc

System actions:

• Reset: not yet tested (see #48)
• EmergencyStop: not yet tested (see #48)

General System Properties:

• GetMode
• GetDefaultIsRadian: SetDefaultIsRadian is deactivated since its usage may be dangerous without further safety measures (see #46 ).
• GetRobotSN: does not work yet (see #43 )
• GetCmdnum: not yet tested well (see #47)
• Get/SetCollisionSensitivity
• Get/SetTeachSensitivity

Safety settings:

• Reduced Mode: Joint range and collision rebound not yet supported
• Safety Boundary: GetFence/SafetyMode not yet supported

Other:

• Advanced properties: Temperatures, Voltages, Currents
• Kinematics: GetInverseKinematics, GetForwardKinematics
• Simulation: Get/SetSimulationRobot switch between simulation and real => all other commands can also be used for the simulated robot!
• Counter: GetCounter, SetCounterReset, SetCounterIncrease

There are still interesting methods that need to be implemented. However, I wanted to go on and implement first these methods in the Servient and then come back to further implement other methods.

Other interesting methods to implement are:

• Trajectory related methods
• Gripper related methods
• TCP settings
• Error/warn handing

[iomz]

Thanks, I'll have a look tomorrow afternoon.

[jo-bru]

Thank you! :) I might change the service order in the future (also in the wot-fx repo), but leave it for now as it is.

[iomz]

Ok! Thanks!