SetDOFVelocities

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SetDOFVelocities

asheshgoswami
Hi,

I need to feed the velocities of different joints to the robot in order to move the joints and perform a particular task. I am giving the command
robot.SetDOFVelocities(array([0.1,0,0,0,0,0,0]),1,[0,1,2,3,4,5,6])
which should give a constant velocit of 0.1rad/s to joint 1 (this is for a PUMA arm robot). However there is an error that keeps occuring saying that the format of SetDOFVelocities is incorrect.
Can you please help me to give the proper command to feed the velocity.
Thanks
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Re: SetDOFVelocities

Praveen
If you are setting the velocity of the robot make sure that the len of the array is same as robot.GetDOF()  
In your case assuming it is 7 (for puma arm, it should be 6, rite ?)

velocities = ([0.1,0,0,0,0,0,0])
robot.SetDOFVelocities(velocities)


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Re: SetDOFVelocities

Rosen Diankov
Administrator
what i would do is:

velocities = zeros(robot.GetDOF())
velocities[0] = 0.1
robot.SetDOFVelocities(velocities)

OR to just set the first:

robot.SetDOFVelocities([0.1],checklimits=1,indices=[0])

best,






2013/11/18 Praveen <[hidden email]>
If you are setting the velocity of the robot make sure that the len of the
array is same as robot.GetDOF()
In your case assuming it is 7 (for puma arm, it should be 6, rite ?)

velocities = ([0.1,0,0,0,0,0,0])
robot.SetDOFVelocities(velocities)






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