UFactory xArm - Page 191

191
b) If servo_id is None or 8,
E.g. : arm.set_servo_angle (angle = [30,45,0,0,0,0,0], is_radian =
False)
speed
joint speed (the default unit is ° / s):
Unit: if is_radian = True, the unit is rad / s; if is_radian = False, the
unit is ° / s;
mvacc
joint acceleration (default unit is ° / s
2
)
Unit: if is_radian = True, the unit is rad / s
2
; if is_radian = False, the
unit is ° / s
2
;
is_radian
roll / pitch / yaw Whether it is measured in radian (default is_radian
= False)
If is_radian = True, the unit of roll / pitch / yaw is radian;
If is_radian = False, the unit of roll / pitch / yaw is degree (°);
wait
If wait = True, wait for the current commands to finish before
sending the next commands;
If wait = False, send the next commands directly;
mvtime
0, reserved；
Note:
1. If the joint angle is to be set in radian, then is_radian = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 1.57, is_radian = True)
2. To wait for the robotic arm to complete the current commands before
returning, wait = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 45, is_radian = False, wait
= True)
Continuous Joint Motion
Inserting an arc transition between two joint motion commands is a way to plan
the continuous joint motion of the robotic arm.