support setting max_velocity and max_acceleration for arms (#376)

stepjam · Jul 2, 2024 · 8f420be · 8f420be
1 parent 0c0d399
commit 8f420be
Show file tree

Hide file tree

Showing 14 changed files with 198 additions and 31 deletions.
diff --git a/pyrep/robots/arms/baxter.py b/pyrep/robots/arms/baxter.py
@@ -3,11 +3,35 @@
 
 class BaxterLeft(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Baxter_leftArm', 7, base_name='Baxter')
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Baxter_leftArm',
+            7,
+            base_name='Baxter',
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
 
 
 class BaxterRight(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Baxter_rightArm', 7, base_name='Baxter')
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Baxter_rightArm',
+            7,
+            base_name='Baxter',
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/dobot.py b/pyrep/robots/arms/dobot.py
@@ -3,5 +3,16 @@
 
 class Dobot(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Dobot', 4)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Dobot',
+            4,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/jaco.py b/pyrep/robots/arms/jaco.py
@@ -3,5 +3,16 @@
 
 class Jaco(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Jaco', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Jaco',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/lbr_iiwa_14_r820.py b/pyrep/robots/arms/lbr_iiwa_14_r820.py
@@ -3,5 +3,16 @@
 
 class LBRIwaa14R820(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LBR_iiwa_14_R820', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LBR_iiwa_14_R820',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/lbr_iiwa_7_r800.py b/pyrep/robots/arms/lbr_iiwa_7_r800.py
@@ -3,5 +3,16 @@
 
 class LBRIwaa7R800(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LBR_iiwa_7_R800', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LBR_iiwa_7_R800',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/locobot_arm.py b/pyrep/robots/arms/locobot_arm.py
@@ -3,5 +3,16 @@
 
 class LoCoBotArm(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LoCoBotArm', 5)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LoCoBotArm',
+            5,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/mico.py b/pyrep/robots/arms/mico.py
@@ -3,5 +3,16 @@
 
 class Mico(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Mico', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Mico',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/panda.py b/pyrep/robots/arms/panda.py
@@ -3,5 +3,16 @@
 
 class Panda(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Panda', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Panda',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/sawyer.py b/pyrep/robots/arms/sawyer.py
@@ -2,6 +2,17 @@
 
 
 class Sawyer(Arm):
-
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Sawyer', 7)
+
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Sawyer',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur10.py b/pyrep/robots/arms/ur10.py
@@ -3,5 +3,16 @@
 
 class UR10(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR10', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR10',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur3.py b/pyrep/robots/arms/ur3.py
@@ -3,5 +3,16 @@
 
 class UR3(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR3', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR3',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur5.py b/pyrep/robots/arms/ur5.py
@@ -3,5 +3,16 @@
 
 class UR5(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR5', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR5',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/xarm7.py b/pyrep/robots/arms/xarm7.py
@@ -3,5 +3,16 @@
 
 class XArm7(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'xarm', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'xarm',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/youBot.py b/pyrep/robots/arms/youBot.py
@@ -3,5 +3,16 @@
 
 class youBot(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'YouBot', 5)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'YouBot',
+            5,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )