public void JogRobot(JointJog jointJogCmd)
{
_finshedTrajectory = true;
foreach (RobotJoint joint in _joints)
{
int joint_index = jointJogCmd.jointNames.LastIndexOf(joint.name);
if (joint.GetJointType() == "prismatic")
{
joint.SetSpeed(jointJogCmd.velocities[joint_index]);
}
else
{
joint.SetSpeed(-Mathf.Rad2Deg * jointJogCmd.velocities[joint_index]);
}
}
}
public void jogRobot(JointJog jointJogCmd)
{
_finished_traj = true;
foreach (RobotJoint joint in _joints)
{
int joint_index = jointJogCmd.joint_names.LastIndexOf(joint.name);
if (joint.getJointType() == "prismatic")
{
joint.setSpeed(jointJogCmd.velocities[joint_index]);
}
else
{
joint.setSpeed(-Mathf.Rad2Deg * jointJogCmd.velocities[joint_index]);
}
}
}
