Timeout on velocity control mode about xarm-python-sdk

[penglongxiang]

Thank you for the advice, that indeed is an issue, we will work on it.

[alonks1234]

hi @penglongxiang, any idea on the timeline we can expect for this small feature? we would very much like to implement velocity control on our robots as soon as possible?

[penglongxiang]

Hi @alonks1234, hopefully this function will be released within this week. SDK and controller firmware update will be needed then.

[alonks1234]

Sounds great, we are looking forward to it!

[penglongxiang]

Hi @alonks1234 , this feature is now supported in the lastest SDK and controller firmware (version 1.8.0). Please update both and have a try.

Reference:

xArm-Python-SDK/xarm/wrapper/xarm_api.py

Line 2815 in 4b22260

def vc_set_joint_velocity(self, speeds, is_radian=None, is_sync=True, duration=-1, **kwargs):

the newly added duration argument (unit:seconds) serves as a time-out configuration, if next velocity command fails to be received within this specified time, the arm will stop (velocity set to 0) accordingly. If omitted, it will behave the same as before: not stopping until all-zero command received.

[MinnaZhong]

Bug fixed