Use servo_move() for Tracking Motion

servo_move(SOCKETFD socketFd, ServoMovePara servoMove) can receive a set of waypoints, then perform smoothing based on timeStamp and send them to the servo for motion.

ServoMovePara struct description:

struct ServoMovePara {
  ///< Transfer parameters
  int robotNum;                             ///< Which robot to control
  bool clearBuffer;                         ///< Whether to clear previously sent waypoints that have not started interpolation calculation
  int targetMode;                           ///< 0-Independent point 1-Continuous trajectory
  int sendMode;                             ///< 0-Transmit all trajectory waypoints at once 1-Transmit partial waypoints at once
  int runMode;                              ///< 0-Move after receiving all 1-Move while receiving
  int sum;                                  ///< Total number of transmissions
  int count;                                ///< Current transmission number
  ///< Motion parameters
  int coord;                                ///< 0-Joint 1-Cartesian
  int size;                                 ///< Number of waypoints in this transmission
  std::vector<std::vector<double>> pos;     ///< 2D array, first dimension is number of waypoints in this transmission, second dimension length is 7, each joint angle or Cartesian coordinate
  std::vector<std::vector<double>> axisvel; ///< 2D array, first dimension is number of waypoints in this transmission, second dimension length is 7, velocity of each axis
  std::vector<std::vector<double>> axisacc; ///< 2D array, first dimension is number of waypoints in this transmission, second dimension length is 7, acceleration of each axis
  std::vector<double> timeStamp;            ///< Length is number of waypoints in this transmission, time to reach each waypoint, unit ms
};

Example: Using continuous waypoint trajectory, transmitting all trajectory waypoints at once

Note: When using the servo_move interface, you need to run a job file containing the external point command in run mode (the external point command receives data transmitted by servo_move)

def test_7000(socketFd):
    print('Starting test 7000...')
    socket_7000 =  aa.connect_robot("192.168.1.13", "7000")
    servomovepara = aa.ServoMovePara()
    pos = aa.VectorVectorDouble()
    time = aa.VectorDouble()
    time_pos = [50, 100, 150, 200, 250, 300, 350, 400, 450, 500, 550]     #Timestamp for reaching target waypoints
    for value in time_pos:
        time.append(value)
    axis_pos = [[0,0,0,0,0,0,0],
                [0,0,0,0,0,1,0],
                [0,0,0,0,0,2,0],
                [0,0,0,0,0,3,0],
                [0,0,0,0,0,4,0],
                [0,0,0,0,0,5,0],
                [0,0,0,0,0,6,0],
                [0,0,0,0,0,7,0],
                [0,0,0,0,0,8,0],
                [0,0,0,0,0,9,0],
                [0,0,0,0,0,10,0]]                               #Target waypoints
    
    for value in axis_pos:
        pos.append(value)
    for k in range(11):
        servomovepara.pos = pos
    for j in range(11):
        servomovepara.timeStamp = time
    servomovepara.runMode = 0          #Default fixed transmission 0
    servomovepara.clearBuffer = True   #When using continuous motion, clearBuffer, targetMode, sendMode, runMode must be assigned according to this fixed format
    servomovepara.targetMode = 1       #Continuous trajectory
    servomovepara.coord = 0            # 0-Joint coordinates   1-Cartesian coordinates
    servomovepara.size = 11            #Length of target waypoints to transmit
    result =  aa.servo_move(socket_7000, servomovepara)
    print("return " , result)