update example

Author: vinman

doc/api/xarm_api.md

@@ -1488,11 +1488,9 @@ Release the temperature changed callback
 Reset the xArm
 Warnning: without limit detection
 Note:
-    1. The API will change self.last_used_position value into [201.5, 0, 140.5, -180, 0, 0]
-    2. The API will change self.last_used_angles value into [0, 0, 0, 0, 0, 0, 0]
-    3. If there are errors or warnings, this interface will clear the warnings and errors.
-    4. If not ready, the api will auto enable motion and set state
-    5. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc
+    1. If there are errors or warnings, this interface will clear the warnings and errors.
+    2. If not ready, the api will auto enable motion and set state
+    3. This interface does not modify the value of last_used_angles/last_used_joint_speed/last_used_joint_acc
 
 :param speed: reset speed (unit: rad/s if is_radian is True else °/s), default is 50 °/s
 :param mvacc: reset acceleration (unit: rad/s^2 if is_radian is True else °/s^2), default is 5000 °/s^2

example/wrapper/common/1004-move_arc_line.py

@@ -39,7 +39,7 @@
 ########################################################
 
 
-arm = XArmAPI(ip, is_radian=True)
+arm = XArmAPI(ip)
 arm.motion_enable(enable=True)
 arm.set_mode(0)
 arm.set_state(state=0)
@@ -66,12 +66,12 @@
 
 
 def move():
-    ret = arm.set_servo_angle(angle=angles, is_radian=False, speed=50, wait=False)
+    ret = arm.set_servo_angle(angle=angles, speed=50, wait=False)
     if ret < 0:
         print('set_servo_angle, ret={}'.format(ret))
         return -1
     for path in paths:
-        ret = arm.set_position(*path[:6], radius=0, is_radian=False, wait=False, speed=300)
+        ret = arm.set_position(*path[:6], radius=0, wait=False, speed=300)
         if ret < 0:
             print('set_position, ret={}'.format(ret))
             return -1

example/wrapper/common/1005-move_arc_line.py

@@ -39,7 +39,7 @@
 ########################################################
 
 
-arm = XArmAPI(ip, is_radian=True)
+arm = XArmAPI(ip)
 arm.motion_enable(enable=True)
 arm.set_mode(0)
 arm.set_state(state=0)
@@ -60,7 +60,7 @@
     [300, 0, 350, -180, 0, 0],
 ]
 
-arm.move_arc_lines(paths, is_radian=False, speed=300, times=10, wait=True)
+arm.move_arc_lines(paths, speed=300, times=10, wait=True)
 
 arm.reset(wait=True)
 arm.disconnect()

example/wrapper/common/1006-move_tool_line.py

@@ -39,25 +39,25 @@
 ########################################################
 
 
-arm = XArmAPI(ip, is_radian=True)
+arm = XArmAPI(ip)
 arm.motion_enable(enable=True)
 arm.set_mode(0)
 arm.set_state(state=0)
 
 arm.reset(wait=True)
 
-arm.set_tool_position(x=100, y=0, z=0, roll=0, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
-arm.set_tool_position(x=0, y=200, z=0, roll=0, pitch=0, yaw=0, speed=200, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
-arm.set_tool_position(x=200, y=0, z=0, roll=0, pitch=0, yaw=0, speed=300, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
-arm.set_tool_position(x=0, y=-400, z=0, roll=0, pitch=0, yaw=0, speed=400, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
-arm.set_tool_position(x=-200, y=0, z=0, roll=0, pitch=0, yaw=0, speed=500, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
-arm.set_tool_position(x=0, y=200, z=0, roll=0, pitch=0, yaw=0, speed=600, is_radian=False, wait=True)
-print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_tool_position(x=100, y=0, z=0, roll=0, pitch=0, yaw=0, speed=100, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
+arm.set_tool_position(x=0, y=200, z=0, roll=0, pitch=0, yaw=0, speed=200, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
+arm.set_tool_position(x=200, y=0, z=0, roll=0, pitch=0, yaw=0, speed=300, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
+arm.set_tool_position(x=0, y=-400, z=0, roll=0, pitch=0, yaw=0, speed=400, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
+arm.set_tool_position(x=-200, y=0, z=0, roll=0, pitch=0, yaw=0, speed=500, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
+arm.set_tool_position(x=0, y=200, z=0, roll=0, pitch=0, yaw=0, speed=600, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=True))
 
 arm.reset(wait=True)
 arm.disconnect()

example/wrapper/common/1008-move_line_aa.py

@@ -39,7 +39,7 @@
 ########################################################
 
 
-arm = XArmAPI(ip, is_radian=True)
+arm = XArmAPI(ip)
 arm.motion_enable(enable=True)
 arm.set_mode(0)
 arm.set_state(state=0)
@@ -49,19 +49,19 @@
 
 arm.set_position(300, 0, 300, 180, 0, 0)
 # test pitch, pitch +50
-ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 50, 0], relative=True, wait=True, is_radian=False)
+ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 50, 0], relative=True, wait=True)
 print('set_position_aa, ret={}'.format(ret))
 
 # test pitch, pitch -50
-ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, -50, 0], relative=True, wait=True, is_radian=False)
+ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, -50, 0], relative=True, wait=True)
 print('set_position_aa, ret={}'.format(ret))
 
 # test yaw, yaw +80
-ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 0, 80], relative=True, wait=True, is_radian=False)
+ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 0, 80], relative=True, wait=True)
 print('set_position_aa, ret={}'.format(ret))
 
 # test yaw, yaw -80
-ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 0, -80], relative=True, wait=True, is_radian=False)
+ret = arm.set_position_aa(axis_angle_pose=[0, 0, 0, 0, 0, -80], relative=True, wait=True)
 print('set_position_aa, ret={}'.format(ret))
 
 

example/wrapper/common/7003-servo_cartesian_aa.py

@@ -39,7 +39,7 @@
 ########################################################
 
 
-arm = XArmAPI(ip, is_radian=True)
+arm = XArmAPI(ip)
 arm.motion_enable(enable=True)
 arm.set_mode(0)
 arm.set_state(state=0)
@@ -58,7 +58,7 @@
 rp = 0.2
 for i in range(450):
     time.sleep(0.005)
-    code = arm.set_servo_cartesian_aa([0, 0, 0, 0, rp, 0], relative=True, wait=False, is_radian=False)
+    code = arm.set_servo_cartesian_aa([0, 0, 0, 0, rp, 0], relative=True, wait=False)
     print('set_servo_cartesian_aa, code={}, i={}, rp={}'.format(code, i, rp))
 
 

example/wrapper/xarm5/2002-move_joint.py

@@ -49,33 +49,33 @@
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, 0, -60, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, -30, -60, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, -30, -60, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, -60, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), 0, math.radians(-60), 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), math.radians(-30), math.radians(-60), 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, math.radians(-30), math.radians(-60), 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, math.radians(-60), 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)

example/wrapper/xarm5/2004-move_joint.py

@@ -49,33 +49,33 @@
 
 speed = 50
 arm.set_servo_angle(servo_id=1, angle=90, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=-60, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=-30, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=1, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 arm.reset(wait=True)
 
 speed = math.radians(50)
 arm.set_servo_angle(servo_id=1, angle=math.radians(90), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=math.radians(-60), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=math.radians(-30), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=1, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)

example/wrapper/xarm6/2002-move_joint.py

@@ -49,33 +49,33 @@
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, 0, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, -30, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, -30, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, -60, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), 0, math.radians(-60), 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), math.radians(-30), math.radians(-60), 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, math.radians(-30), math.radians(-60), 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, math.radians(-60), 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)

example/wrapper/xarm6/2004-move_joint.py

@@ -49,33 +49,33 @@
 
 speed = 50
 arm.set_servo_angle(servo_id=1, angle=90, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=-60, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=-30, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=1, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 arm.reset(wait=True)
 
 speed = math.radians(50)
 arm.set_servo_angle(servo_id=1, angle=math.radians(90), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=math.radians(-60), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=math.radians(-30), speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=1, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=2, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(servo_id=3, angle=0, speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)

example/wrapper/xarm7/2002-move_joint.py

@@ -49,33 +49,33 @@
 
 speed = 50
 arm.set_servo_angle(angle=[90, 0, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, -60, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[90, -60, -30, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, -60, -30, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, -60, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, is_radian=False, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)
 speed = math.radians(50)
 arm.set_servo_angle(angle=[math.radians(90), 0, 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), math.radians(-60), 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[math.radians(90), math.radians(-60), math.radians(-30), 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, math.radians(-60), math.radians(-30), 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, math.radians(-60), 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 arm.set_servo_angle(angle=[0, 0, 0, 0, 0, 0], speed=speed, wait=True)
-print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=True))
+print(arm.get_servo_angle(), arm.get_servo_angle(is_radian=False))
 
 
 arm.reset(wait=True)