Gripper hangs in velocity control about xarm-python-sdk

[vimior]

Hi @joshuafishman , you can set the parameter wait and wait_motion to False to skip the state detection of the robotic arm.
set_gripper_position(pos, wait=False, wait_motion=False)

[joshuafishman]

This seems to work most of the time! Sometimes the gripper command still seems to cause the robot to hang, but I haven't been able to isolate where yet.

[joshuafishman]

The remaining issues seem to have been a result of modifying the collision setpoint, which seems to silently reset the robot to position mode.

[vimior]

Hi @joshuafishman
Setting the collision sensitivity will modify the state of the robotic arm, but will not modify the mode.
If an error is raised, it is possible to modify the mode not in the position mode.

[MinnaZhong]

The problem has been fixed on SDK V1.8.4.
Recommend updating the firmware and xArmStudio to V1.8.3 to test.

Issue closed.