xarm_move_joint

1. Introduction

Button:

1) Back to the initial position.

2) Joint motion in Live Control and Blockly module.

2. Request & Response

Message

{
    "cmd": "xarm_move_joint",
    "data": {
        "I": "0",
        "J": "0",
        "K": "0",
        "L": "0",
        "M": "0",
        "N": "0",
        "O": "0",
        "R": 0,
        "F": "0",
        "Q": "300",
        "isControl": true,
        "isClickMove": false,
        "wait": false
    },
    "id": "5"
}

Request

Name	Type	Required fields	Description
I	String	Yes	Joint angle of Joint1
J	String	Yes	Joint angle of Joint2
k	String	Yes	Joint angle of Joint3
M	String	Yes	Joint angle of Joint4
N	String	Yes	Joint angle of Joint5
O	String	Yes	Joint angle of Joint6
R	String	Yes	Joint angle of Joint7
wait	bool	No	wait or not
isControl	bool	Yes	whether start the program by Blockly or not
isClickMove	bool	Yes	whether click 'Move' in Blockly or not
Module	String	No	whether the wait=True in Blockly or not

Response

code=0->success;
code!=0->Failed, refer to xarm_api_code;

3. Code Example

background

GLOBAL.XArm.xarm_printed = True
ret = yield self._wait_until_cmdnum_lt_max()
if ret is not None:
    return response(client, id, ret)
self.last_move_client = client
code = GLOBAL.XArm.xarm.set_servo_angle(angle=angles, speed=mvvelo, mvacc=mvacc, mvtime=mvtime,is_radian=False, wait=False, radius=radius)

front_end

self.moveJoint = (positions, index, isWait, callback, isControl, modName, isClickMove) => {
  if (modName === 'blockly' && isControl === false && !window.Blockly.Running) {
    return;
  }
  const JOINT_LIST = ['I', 'J', 'K', 'L', 'M', 'N', 'O', 'R'];
  const sendData = isWait === true ? { wait: true } : {};
  if (index >= 0) {
    sendData[JOINT_LIST[index]] = Number(positions[0]);
  }
  else {
    JOINT_LIST.forEach((value, index) => {
      sendData[value] = Number(positions[index]);
    });
  }
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    F: Number(self.model.robot.state.local.angle_speed),
    Q: Number(self.model.robot.state.local.angle_acceleration),
    isControl: isControl === true ? true : false,
    module: modName,
    isClickMove: isClickMove,
    mode: self.model.robot.state.info.xarm_mode,
    wait: isWait,
  });
  Object.assign(params.data, sendData);

  self.sendCmd(window.GlobalConstant.MOVE_JOINT, params, (dict) => {
    self.codeHandle(dict, 'move joint', isControl !== true);
    if (callback) {
      callback(dict);
    }
  });
};