Merge branch 'develop' of 192.168.1.19:vinman/xArm-Python-SDK into develop

Author: vimior

xarm/core/config/x_code.py

@@ -804,6 +804,16 @@
             'desc': ''
         }
     },
+    60: {
+        'en': {
+            'title': 'Linear speed exceeded limit in servo_j mode.',
+            'desc': 'Linear speed limit is {} mm/s, current linear speed {} mm/s.'
+        },
+        'cn': {
+            'title': '关节伺服模式线速度超过限制',
+            'desc': '线速度限制值{}mm/s,当前线速度{}mm/s'
+        }
+    },
     110: {
         'en': {
             'title': 'Robot Arm Base Board Communication Error',

xarm/core/config/x_config.py

@@ -40,6 +40,7 @@ class Type:
             XARM6_X9 = 9
             XARM6_X11 = 11
             XARM6_X12 = 12
+            XARM7_X13 = 13
 
         JOINT_LIMITS = {
             Axis.XARM5: {
@@ -113,6 +114,15 @@ class Type:
                     (-1.692969, math.pi),  # (-1.75, math.pi),
                     (-2 * math.pi, 2 * math.pi)
                 ],
+                Type.XARM7_X13: [
+                    (-2 * math.pi, 2 * math.pi),
+                    (-2.094395, 2.059488),  # (-2.18, 2.18),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-3.92699, 0.191986),
+                    (-2 * math.pi, 2 * math.pi),
+                    (-math.pi, 1.692969), 
+                    (-2 * math.pi, 2 * math.pi)
+                ]
             }
         }
         TCP_LIMITS = {
@@ -193,6 +203,14 @@ class Type:
                     (-math.pi, math.pi),
                     (-math.pi, math.pi)
                 ],
+                Type.XARM7_X13: [
+                    (-750, 750),
+                    (-750, 750),
+                    (-400, 1000),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi),
+                    (-math.pi, math.pi)
+                ]
             }
         }
 

xarm/tools/blockly/_blockly_handler.py

@@ -633,10 +633,10 @@ def _handle_set_bio_gripper(self, block, indent=0, arg_map=None):
             self._append_main_code('    return', indent + 2)
 
     def _handle_set_robotiq_init(self, block, indent=0, arg_map=None):
-        self._append_main_code('code = self._arm.robotiq_reset()', indent + 2)
+        self._append_main_code('code, ret = self._arm.robotiq_reset()', indent + 2)
         self._append_main_code('if not self._check_code(code, \'robotiq_reset\'):', indent + 2)
         self._append_main_code('    return', indent + 2)
-        self._append_main_code('code = self._arm.robotiq_set_activate(wait=True)', indent + 2)
+        self._append_main_code('code, ret = self._arm.robotiq_set_activate(wait=True)', indent + 2)
         self._append_main_code('if not self._check_code(code, \'robotiq_set_activate\'):', indent + 2)
         self._append_main_code('    return', indent + 2)
 
@@ -649,7 +649,7 @@ def _handle_set_robotiq_gripper(self, block, indent=0, arg_map=None):
         force = int(fields[0].text) if fields and len(fields) > 0 else 0xFF
         fields = self._get_nodes('field', root=block, name='wait')
         wait = fields[0].text == 'TRUE' if fields and len(fields) > 0 else False
-        self._append_main_code('code = self._arm.robotiq_set_position({}, speed={}, force={}, wait={})'.format(pos, speed, force, wait), indent + 2)
+        self._append_main_code('code, ret = self._arm.robotiq_set_position({}, speed={}, force={}, wait={})'.format(pos, speed, force, wait), indent + 2)
         self._append_main_code('if not self._check_code(code, \'robotiq_set_position\'):', indent + 2)
         self._append_main_code('    return', indent + 2)
 

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.13.17'
+__version__ = '1.13.19'

xarm/x3/xarm.py

@@ -1803,8 +1803,9 @@ def iden_joint_friction(self, sn=None):
         axis_map = {5: 'F', 6: 'I', 7: 'S'}
         valid_850 = self.is_850 and sn[0] == 'F' and sn[1] == 'X'
         valid_lite = self.is_lite6 and sn[0] == 'L' and sn[1] == 'I'
+        valid_xarm7t = not self.is_850 and not self.is_lite6 and sn[0] == 'C' and sn[1] == 'S'
         valid_xarm = not self.is_850 and not self.is_lite6 and sn[0] == 'X' and sn[1] == axis_map.get(self.axis, '')
-        if not (valid_850 or valid_lite or valid_xarm):
+        if not (valid_850 or valid_lite or valid_xarm or valid_xarm7t):
             self.log_api_info('iden_joint_friction, sn is not correct, axis={}, type={}, sn={}'.format(self.axis, self.device_type, sn), code=APIState.API_EXCEPTION)
             return APIState.API_EXCEPTION, -1