Open buckleytoby opened 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
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.
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 insteadlast_used_joint_speed
is used, which is only set throughset_servo_angle
Is there a way to set joint speed (and preferably a different value for each joint) through the API?