[fix] fix single joint control

Author: vimior

doc/api/xarm_api.md

@@ -1,4 +1,4 @@
-xArm-Python-SDK API Documentation (V1.13.30): class XArmAPI in module xarm.wrapper.xarm_api
+xArm-Python-SDK API Documentation (V1.14.0): class XArmAPI in module xarm.wrapper.xarm_api
 
 ## class __XArmAPI__
 ****************************************
@@ -2636,6 +2636,16 @@ xArm-Python-SDK API Documentation (V1.13.30): class XArmAPI in module xarm.wrapp
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
 
+#### def __set_control_modbus_baudrate__(self, baud):
+
+> Set the modbus baudrate of the control box  
+>   
+> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
+>   
+> :return: code  
+>     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
+
+
 #### def __set_counter_increase__(self, val=1):
 
 > Set counter plus value, only support plus 1  
@@ -3489,15 +3499,6 @@ xArm-Python-SDK API Documentation (V1.13.30): class XArmAPI in module xarm.wrapp
 > :return: code  
 >     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
 
-#### def __set_control_modbus_baudrate__(self, baud):
-
-> Set the modbus baudrate of the control box 
->   
-> :param baud: 4800/9600/19200/38400/57600/115200/230400/460800/921600/1000000/1500000/2000000/2500000  
->   
-> :return: code  
->     code: See the [API Code Documentation](./xarm_api_code.md#api-code) for details.
-
 
 #### def __set_timeout__(self, timeout):
 

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.30'
+__version__ = '1.14.0'

xarm/x3/xarm.py

@@ -46,7 +46,7 @@ def __init__(self, port=None, is_radian=False, do_not_open=False, instance=None,
         Base.__init__(self, port, is_radian, do_not_open, **kwargs)
 
     def _is_out_of_tcp_range(self, value, i):
-        if not self._check_tcp_limit or self._stream_type != 'socket' or not self._enable_report:
+        if not self._check_tcp_limit or self._stream_type != 'socket' or not self._enable_report or value == math.inf:
             return False
         tcp_range = XCONF.Robot.TCP_LIMITS.get(self.axis).get(self.device_type, [])
         if 2 < i < len(tcp_range):  # only limit rotate
@@ -63,7 +63,7 @@ def _is_out_of_tcp_range(self, value, i):
         return False
 
     def _is_out_of_joint_range(self, angle, i):
-        if not self._check_joint_limit or self._stream_type != 'socket' or not self._enable_report:
+        if not self._check_joint_limit or self._stream_type != 'socket' or not self._enable_report or angle == math.inf:
             return False
         joint_limit = XCONF.Robot.JOINT_LIMITS.get(self.axis).get(self.device_type, [])
         if i < len(joint_limit):
@@ -132,12 +132,12 @@ def _set_position_absolute(self, x=None, y=None, z=None, roll=None, pitch=None,
         is_radian = self._default_is_radian if is_radian is None else is_radian
         only_check_type = kwargs.get('only_check_type', self._only_check_type)
         tcp_pos = [
-            self._last_position[0] if x is None else float(x),
-            self._last_position[1] if y is None else float(y),
-            self._last_position[2] if z is None else float(z),
-            self._last_position[3] if roll is None else to_radian(roll, is_radian),
-            self._last_position[4] if pitch is None else to_radian(pitch, is_radian),
-            self._last_position[5] if yaw is None else to_radian(yaw, is_radian),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[0]) if x is None else float(x),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[1]) if y is None else float(y),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[2]) if z is None else float(z),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[3]) if roll is None else to_radian(roll, is_radian),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[4]) if pitch is None else to_radian(pitch, is_radian),
+            (math.inf if self.version_is_ge(2, 4, 100) else self._last_position[5]) if yaw is None else to_radian(yaw, is_radian),
         ]
         motion_type = kwargs.get('motion_type', False)
         for i in range(3):
@@ -460,7 +460,7 @@ def set_servo_angle(self, servo_id=None, angle=None, speed=None, mvacc=None, mvt
         if servo_id is not None and servo_id != 8:
             if servo_id > self.axis or servo_id <= 0:
                 return APIState.SERVO_NOT_EXIST
-            angles = [None] * 7
+            angles = [math.inf if self.version_is_ge(2, 4, 100) else None] * 7
             angles[servo_id - 1] = angle
         else:
             angles = angle