[example] use move_gohome() replace reset()

xArm-Developer · Sep 28, 2024 · 5a86d4a · 5a86d4a
1 parent 45a9521
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Showing 29 changed files with 68 additions and 68 deletions.
diff --git a/example/wrapper/common/1001-move_line.py b/example/wrapper/common/1001-move_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(x=300, y=0, z=150, roll=-180, pitch=0, yaw=0, speed=100, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=True))
@@ -60,7 +60,7 @@
 print(arm.get_position(), arm.get_position(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(x=300, y=0, z=150, roll=-3.1415926, pitch=0, yaw=0, speed=100, is_radian=True, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=True))
@@ -75,5 +75,5 @@
 arm.set_position(x=300, y=0, z=250, roll=-3.1415926, pitch=0, yaw=0, speed=600, is_radian=True, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=True))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1002-move_line.py b/example/wrapper/common/1002-move_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(x=300, y=0, z=150, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=False))
@@ -60,7 +60,7 @@
 print(arm.get_position(), arm.get_position(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(x=300, y=0, z=150, roll=-3.1415926, pitch=0, yaw=0, speed=100, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=False))
@@ -75,5 +75,5 @@
 arm.set_position(x=300, y=0, z=250, roll=-3.1415926, pitch=0, yaw=0, speed=600, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=False))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1003-relative_move_line.py b/example/wrapper/common/1003-relative_move_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(x=100, relative=True, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=False))
@@ -59,5 +59,5 @@
 arm.set_position(y=200, z=100, relative=True, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=False))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1004-move_arc_line.py b/example/wrapper/common/1004-move_arc_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 paths = [
     [300, 0, 150, -180, 0, 0],
@@ -81,5 +81,5 @@ def move():
     if move() != 0:
         break
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1005-move_arc_line.py b/example/wrapper/common/1005-move_arc_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 paths = [
     [300, 0, 150, -180, 0, 0],
@@ -62,5 +62,5 @@
 
 arm.move_arc_lines(paths, speed=300, times=10, wait=True)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1006-move_tool_line.py b/example/wrapper/common/1006-move_tool_line.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_tool_position(x=100, y=0, z=0, roll=0, pitch=0, yaw=0, speed=100, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=True))
@@ -59,5 +59,5 @@
 arm.set_tool_position(x=0, y=200, z=0, roll=0, pitch=0, yaw=0, speed=600, wait=True)
 print(arm.get_position(), arm.get_position(is_radian=True))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1007-counter.py b/example/wrapper/common/1007-counter.py
@@ -51,7 +51,7 @@ def callback_count_changed(item):
 arm.register_count_changed_callback(callback_count_changed)
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 paths = [
     [300, 0, 150, -180, 0, 0],
@@ -91,5 +91,5 @@ def move():
         break
     arm.set_counter_increase()
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/1009-cartesian_velocity_control.py b/example/wrapper/common/1009-cartesian_velocity_control.py
@@ -45,7 +45,7 @@
 arm.set_state(state=0)
 time.sleep(1)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 # set cartesian velocity control mode
 arm.set_mode(5)

diff --git a/example/wrapper/common/1010-cartesian_online_trajectory_planning.py b/example/wrapper/common/1010-cartesian_online_trajectory_planning.py
@@ -43,7 +43,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.set_position(x=400, y=-50, z=150, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
 
 # set mode: cartesian online trajectory planning mode
@@ -66,5 +66,5 @@
 # set_mode: position mode
 arm.set_mode(0)
 arm.set_state(0)
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/2000-joint_velocity_control.py b/example/wrapper/common/2000-joint_velocity_control.py
@@ -45,7 +45,7 @@
 arm.set_state(state=0)
 time.sleep(1)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 # set joint velocity control mode
 arm.set_mode(4)

diff --git a/example/wrapper/common/2006-joint_online_trajectory_planning.py b/example/wrapper/common/2006-joint_online_trajectory_planning.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.set_servo_angle(angle=[-50, 0, 0, 0, 0, 0, 0], wait=True)
 
 # set mode: joint online trajectory planning mode
@@ -68,5 +68,5 @@
 # set_mode: position mode
 arm.set_mode(0)
 arm.set_state(0)
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/3001-move_circle.py b/example/wrapper/common/3001-move_circle.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 poses = [
     [300,  0,   100, -180, 0, 0],
@@ -63,5 +63,5 @@
 ret = arm.move_circle(pose1=poses[3], pose2=poses[4], percent=200, speed=200, mvacc=1000, wait=True)
 print('move_circle, ret: {}'.format(ret))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/common/7001-servo_j.py b/example/wrapper/common/7001-servo_j.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_mode(1)
 arm.set_state(0)

diff --git a/example/wrapper/common/7002-servo_cartesian.py b/example/wrapper/common/7002-servo_cartesian.py
@@ -44,7 +44,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 arm.set_position(*[200, 0, 200, 180, 0, 0], wait=True)
 

diff --git a/example/wrapper/xarm5/2001-move_joint.py b/example/wrapper/xarm5/2001-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0], speed=speed, wait=True)
@@ -62,7 +62,7 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0], speed=speed, is_radian=True, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm5/2002-move_joint.py b/example/wrapper/xarm5/2002-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
@@ -62,7 +62,7 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0], speed=speed, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm5/2003-move_joint.py b/example/wrapper/xarm5/2003-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(servo_id=1, angle=90, speed=speed, wait=True)
@@ -61,7 +61,7 @@
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = math.radians(50)
 arm.set_servo_angle(servo_id=1, angle=math.radians(90), speed=speed, is_radian=True, wait=True)
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm5/2004-move_joint.py b/example/wrapper/xarm5/2004-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(servo_id=1, angle=90, speed=speed, is_radian=False, wait=True)
@@ -61,7 +61,7 @@
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, is_radian=False, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = math.radians(50)
 arm.set_servo_angle(servo_id=1, angle=math.radians(90), speed=speed, wait=True)
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm5/2005-move_arc_joint.py b/example/wrapper/xarm5/2005-move_arc_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 
@@ -60,5 +60,5 @@
     for angle in angles:
         code = arm.set_servo_angle(angle=angle, speed=speed, radius=20, wait=False)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm6/2001-move_joint.py b/example/wrapper/xarm6/2001-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0, 0], speed=speed, wait=True)
@@ -62,7 +62,7 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0, 0], speed=speed, is_radian=True, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()
diff --git a/example/wrapper/xarm6/2002-move_joint.py b/example/wrapper/xarm6/2002-move_joint.py
@@ -45,7 +45,7 @@
 arm.set_mode(0)
 arm.set_state(state=0)
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
@@ -62,7 +62,7 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0, 0], speed=speed, wait=True)
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
@@ -78,5 +78,5 @@
 print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
-arm.reset(wait=True)
+arm.move_gohome(wait=True)
 arm.disconnect()