增加RunPoint_P_inPose_M_RAD用于set_position
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@ -313,6 +313,29 @@ class dobot_nova5:
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return -1
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print(f'After {cnt} retries, still failed to arrive at the joint position: {q}')
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return -1
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def RunPoint_P_inPose_M_RAD(self,pose,**params):
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'''
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RUNPOINT_P 以关节运动方式运动到目标点
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MovJ flag = 0 通过位姿走点,输入为[X Y Z RX RY RZ] unit: M/RAD
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'''
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# 单位 m/rad -> mm/deg
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max_retry_count = params.get('max_retry_count', 3)
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cnt = 0
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poses_list_mm_deg = self.__transform_m_rad_2_mm_deg(pose)
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while cnt < max_retry_count:
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cnt += 1
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command = self.dashboard.MovJ(*poses_list_mm_deg,0)
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is_arrived = self.waitArrival(command)
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if is_arrived == 0:
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print(f'Arrived at the joint position: {pose}')
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return 0
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else:
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print(f'Failed to arrive at the joint position: {pose}')
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return -1
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print(f'After {cnt} retries, still failed to arrive at the joint position: {pose}')
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return -1
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def ServoJoint(self,joints_list):
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