penglongxiang
commented
1 year ago Hi @WWimshurst, wait=False is only effective for Straight Line and joint space motions. For your case, you can try the API set_cartesian_velo_continuous(on_off), refer here, If argument on_off is set as True, the speed will be continuous between the Cartesian commands thereafter, please make sure the motion paths are properly connected(previous end position is the start position of the next) and no joint space motion in-between. If continuous motion is not needed anymore, remember to reset this configuration, or the robot may behave abnormal in following usage.
For example:
#!/usr/bin/env python3
import os
import sys
import time
from xarm.wrapper import XArmAPI
arm = XArmAPI('192.168.1.235',is_radian=False)
arm.clean_error()
arm.clean_warn()
arm.set_tcp_offset([0, 0, 172, 0, 0, 0])
arm.set_tcp_load(0.75, [0, 0, 0])
arm.clean_error()
arm.clean_warn()
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.set_servo_angle(angle=[-48.691,-5.568,-87.654,93.222,-48.691], speed=16.92, mvacc=16.92)
arm.set_position(x=290, y=-330, z=383, roll=-180, pitch=0, yaw=0, radius=4, speed=150, mvacc=50)
arm.set_cartesian_velo_continuous(True) # speed continuous Cartesian motion from now on. #####
arm.move_circle(pose1=[299.13, -318.377, 383, -180, 0, 0], pose2=[308.2, -306.707, 383, -180, 0, 0], percent=0.19, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[317.176, -294.965, 383, -180, 0, 0], pose2=[326.065, -283.157, 383, -180, 0, 0], percent=0.27, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[333.6, -272.951, 383, -180, 0, 0], pose2=[341.058, -262.689, 383, -180, 0, 0], percent=0.27, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[348.4, -252.344, 383, -180, 0, 0], pose2=[355.631, -241.922, 383, -180, 0, 0], percent=0.38, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[361.146, -233.755, 383, -180, 0, 0], pose2=[366.582, -225.535, 383, -180, 0, 0], percent=0.35, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[371.899, -217.239, 383, -180, 0, 0], pose2=[377.106, -208.873, 383, -180, 0, 0], percent=0.47, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[381.455, -201.62, 383, -180, 0, 0], pose2=[385.707, -194.311, 383, -180, 0, 0], percent=0.47, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[389.815, -186.92, 383, -180, 0, 0], pose2=[393.788, -179.456, 383, -180, 0, 0], percent=0.65, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[404.168, -156.867, 383, -180, 0, 0], pose2=[412.821, -133.561, 383, -180, 0, 0], percent=2.69, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[417.433, -109.525, 383, -180, 0, 0], pose2=[417.416, -85.051, 383, -180, 0, 0], percent=6.81, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[415.937, -76.246, 383, -180, 0, 0], pose2=[413.805, -67.575, 383, -180, 0, 0], percent=2.68, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[410.935, -59.112, 383, -180, 0, 0], pose2=[407.54, -50.846, 383, -180, 0, 0], percent=2.24, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[403.684, -43.072, 383, -180, 0, 0], pose2=[399.438, -35.504, 383, -180, 0, 0], percent=1.82, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[394.811, -28.154, 383, -180, 0, 0], pose2=[389.964, -20.948, 383, -180, 0, 0], percent=1.08, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[380.142, -7.418, 383, -180, 0, 0], pose2=[369.956, 5.841, 383, -180, 0, 0], percent=0.97, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[359.869, 19.167, 383, -180, 0, 0], pose2=[350.301, 32.87, 383, -180, 0, 0], percent=1.38, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[343.183, 44.339, 383, -180, 0, 0], pose2=[336.622, 56.135, 383, -180, 0, 0], percent=1.72, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[331.746, 68.539, 383, -180, 0, 0], pose2=[328.973, 81.575, 383, -180, 0, 0], percent=5.91, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[329.009, 89.95, 383, -180, 0, 0], pose2=[330.52, 98.187, 383, -180, 0, 0], percent=6.35, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[333.706, 105.967, 383, -180, 0, 0], pose2=[338.051, 113.166, 383, -180, 0, 0], percent=5.53, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[345.61, 121.99, 383, -180, 0, 0], pose2=[354.095, 129.93, 383, -180, 0, 0], percent=3.95, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[363.272, 137.168, 383, -180, 0, 0], pose2=[372.626, 144.177, 383, -180, 0, 0], percent=0.89, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[387.173, 154.475, 383, -180, 0, 0], pose2=[401.906, 164.507, 383, -180, 0, 0], percent=0.65, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[416.689, 174.468, 383, -180, 0, 0], pose2=[431.367, 184.583, 383, -180, 0, 0], percent=0.37, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[436.067, 187.902, 383, -180, 0, 0], pose2=[440.74, 191.26, 383, -180, 0, 0], percent=0.29, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[445.365, 194.681, 383, -180, 0, 0], pose2=[449.941, 198.169, 383, -180, 0, 0], percent=0.51, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[454.252, 201.589, 383, -180, 0, 0], pose2=[458.503, 205.084, 383, -180, 0, 0], percent=0.62, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[462.653, 208.696, 383, -180, 0, 0], pose2=[466.697, 212.427, 383, -180, 0, 0], percent=1.01, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[469.568, 215.257, 383, -180, 0, 0], pose2=[472.361, 218.164, 383, -180, 0, 0], percent=0.93, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[475.087, 221.244, 383, -180, 0, 0], pose2=[477.572, 224.308, 383, -180, 0, 0], percent=1.47, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[479.62, 227.118, 383, -180, 0, 0], pose2=[481.534, 230.018, 383, -180, 0, 0], percent=1.6, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[483.234, 233.044, 383, -180, 0, 0], pose2=[484.698, 236.19, 383, -180, 0, 0], percent=2.63, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[486.379, 243.96, 383, -180, 0, 0], pose2=[485.804, 251.889, 383, -180, 0, 0], percent=10.21, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[482.6, 259.234, 383, -180, 0, 0], pose2=[477.63, 265.52, 383, -180, 0, 0], percent=9.22, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[475.44, 267.395, 383, -180, 0, 0], pose2=[473.148, 269.144, 383, -180, 0, 0], percent=1.94, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[470.761, 270.766, 383, -180, 0, 0], pose2=[468.315, 272.296, 383, -180, 0, 0], percent=1.31, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[465.272, 274.016, 383, -180, 0, 0], pose2=[461.938, 275.732, 383, -180, 0, 0], percent=1.35, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[458.654, 277.263, 383, -180, 0, 0], pose2=[455.33, 278.707, 383, -180, 0, 0], percent=0.92, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[451.304, 280.31, 383, -180, 0, 0], pose2=[447.105, 281.85, 383, -180, 0, 0], percent=0.93, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[442.931, 283.256, 383, -180, 0, 0], pose2=[438.732, 284.583, 383, -180, 0, 0], percent=0.65, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[433.588, 286.081, 383, -180, 0, 0], pose2=[428.416, 287.48, 383, -180, 0, 0], percent=0.67, speed=150, mvacc=50,wait=False)
arm.move_circle(pose1=[423.217, 288.776, 383, -180, 0, 0], pose2=[418, 290, 383, -180, 0, 0], percent=0.49, speed=150, mvacc=50,wait=False)
arm.set_cartesian_velo_continuous(False) # Reset speed continuous Cartesian motion. #####
arm.set_servo_angle(angle=[0,0,-90,30,0], speed=10, mvacc=5)
arm.disconnect()
WWimshurst
I have a complex curving path (see below) for the XArm5 robot that has been created in CAD. In my script there are sequential, move_circle commands used to complete the path. However, after each move_circle command, the robot pauses, despite the wait =false parameter. Is this a limitation of the move_circle command?