xArm-Developer / xArm-CPLUS-SDK

C++ SDK for UFACTORY robots, 850, xArm5/6/7, and Lite6.
https://www.ufactory.cc/
BSD 3-Clause "New" or "Revised" License
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set joint speed in set_servo_angle_j #16

Open buckleytoby opened 1 year ago

buckleytoby commented 1 year ago

When performing joint based motion, we have the option to specify speed in the function set_servo_angle_j: int set_servo_angle_j(float angles[7], float speed=0, float acc=0, float mvtime=0)

However checking the source code it would appear that speed is never used, and instead last_used_joint_speed is used, which is only set through set_servo_angle

Is there a way to set joint speed (and preferably a different value for each joint) through the API?

vimior commented 1 year ago

@buckleytoby This interface does not support speed setting for the time being, refer to Speed argument ignored by set_servo_angle_j

buckleytoby commented 1 year ago

when attempting to follow that example I set my mode to 6 (joint online trajectory planning mode) and yet no command sent to set_servo_angle is executed. Note that while I'm using cpp instead of python as in the example, I use the exact same commands but in the cpp binding.