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WIP: remove jogging API #116

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WIP: remove jogging API #116

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44 changes: 0 additions & 44 deletions python/mujincontrollerclient/realtimerobotclient.py
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Original file line number Diff line number Diff line change
Expand Up @@ -939,50 +939,6 @@ def SetRobotBridgeResume(self, timeout=10, **kwargs):
taskparameters.update(kwargs)
return self.ExecuteCommand(taskparameters, timeout=timeout)

#
# jogging related
#

def SetJogModeVelocities(self, movejointsigns, robotname=None, toolname=None, robotspeed=None, robotaccelmult=None, canJogInCheckMode=None, usewebapi=False, timeout=1, fireandforget=False, **kwargs):
"""

Args:
movejointsigns:
robotname (str, optional): Name of the robot
toolname (str, optional): Name of the manipulator. Default: self.toolname
robotspeed (float, optional): Value in (0,1] setting the percentage of robot speed to move at
robotaccelmult (float, optional): Value in (0,1] setting the percentage of robot acceleration to move at
canJogInCheckMode: if true, then allow jogging even if in check mode. By default it is false.
usewebapi (bool, optional): If True, send command through Web API. Otherwise, through ZMQ. (Default: False)
timeout (float, optional): (Default: 1)
fireandforget (bool, optional): (Default: False)
jogtype (str): One of 'joints', 'world', 'robot', 'tool'
checkSelfCollisionWhileJogging:
force:
"""
taskparameters = {
'command': 'SetJogModeVelocities',
'movejointsigns': movejointsigns,
}
if canJogInCheckMode is not None:
taskparameters['canJogInCheckMode'] = canJogInCheckMode
taskparameters.update(kwargs)
return self.ExecuteCommand(taskparameters, robotname=robotname, toolname=toolname, robotspeed=robotspeed, robotaccelmult=robotaccelmult, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget)

def EndJogMode(self, usewebapi=False, timeout=1, fireandforget=False, **kwargs):
"""

Args:
usewebapi (bool, optional): (Default: False)
timeout (float, optional): (Default: 1)
fireandforget (bool, optional): (Default: False)
"""
taskparameters = {
'command': 'EndJogMode',
}
taskparameters.update(kwargs)
return self.ExecuteCommand(taskparameters, usewebapi=usewebapi, timeout=timeout, fireandforget=fireandforget)

def SetRobotBridgeServoOn(self, servoon, robotname=None, timeout=3, fireandforget=False):
"""

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