release-1.2.2

Author: vinman

README.md

@@ -31,6 +31,12 @@ Install is not necessary, you can run examples without installation.Only Python3
 
 ## Update Summary
 
+- > ### 1.2.2
+
+ - Fix mechanical claw false positive error
+ - Modify the wait logic of a motion instruction
+ - Support for blocky code conversion and operation of xArmStudio1.2.2
+
 - > ### 1.2.0
 
  - Fix the parameters of the control box GPIO analog signal

doc/api/xarm_api.md

@@ -801,7 +801,7 @@ The three-point coordinates are (current starting point, pose1, pose2).
 :param mvtime: 0, reserved
 :param is_radian: roll/pitch/yaw value is radians or not, default is self.default_is_radian
 :param wait: whether to wait for the arm to complete, default is False
-:param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
 :param kwargs: reserved
 :return: code
  code: See the API code documentation for details.
@@ -826,7 +826,7 @@ Note:
 :param mvtime: reserved
 :param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
 :param wait: whether to wait for the arm to complete, default is False
-:param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
 :return: code
  code: See the API code documentation for details.
 ```
@@ -1062,7 +1062,7 @@ Note:
 :param mvtime: reserved
 :param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
 :param wait: whether to wait for the arm to complete, default is False
-:param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
 ```
 
 #### def __run_blockly_app__(self, path, **kwargs):
@@ -1418,7 +1418,7 @@ Note:
 :param relative: relative move or not
 :param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
 :param wait: whether to wait for the arm to complete, default is False
-:param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
 :param kwargs: reserved
 :return: code
  code: See the API code documentation for details.
@@ -1509,7 +1509,7 @@ Note:
 :param relative: relative move or not
 :param is_radian: the angle in radians or not, default is self.default_is_radian
 :param wait: whether to wait for the arm to complete, default is False
-:param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+:param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
 :param kwargs: reserved
 :return: code
  code: See the API code documentation for details.

setup.py

@@ -12,7 +12,7 @@
 except ImportError:
  from distutils.core import setup
  def find_packages():
- return ['xarm', 'xarm.__version__', 'xarm.core', 'xarm.core.comm', 'xarm.core.utils', 'xarm.core.wrapper', 'xarm.wrapper']
+ return ['xarm', 'xarm.x3', 'xarm.core', 'xarm.core.comm', 'xarm.core.utils', 'xarm.core.wrapper', 'xarm.wrapper']
 import os
 from distutils.util import convert_path
 

xarm/version.py

@@ -1 +1 @@
-__version__ = '1.2.0'
+__version__ = '1.2.2'

xarm/wrapper/xarm_api.py

@@ -592,7 +592,7 @@ def set_position(self, x=None, y=None, z=None, roll=None, pitch=None, yaw=None,
  :param relative: relative move or not
  :param is_radian: the roll/pitch/yaw in radians or not, default is self.default_is_radian
  :param wait: whether to wait for the arm to complete, default is False
- :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+ :param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
  :param kwargs: reserved
  :return: code
  code: See the API code documentation for details.
@@ -646,7 +646,7 @@ def set_servo_angle(self, servo_id=None, angle=None, speed=None, mvacc=None, mvt
  :param relative: relative move or not
  :param is_radian: the angle in radians or not, default is self.default_is_radian
  :param wait: whether to wait for the arm to complete, default is False
- :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+ :param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
  :param kwargs: reserved
  :return: code
  code: See the API code documentation for details.
@@ -686,7 +686,7 @@ def move_circle(self, pose1, pose2, percent, speed=None, mvacc=None, mvtime=None
  :param mvtime: 0, reserved
  :param is_radian: roll/pitch/yaw value is radians or not, default is self.default_is_radian
  :param wait: whether to wait for the arm to complete, default is False
- :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+ :param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
  :param kwargs: reserved
  :return: code
  code: See the API code documentation for details.
@@ -711,7 +711,7 @@ def move_gohome(self, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=
  :param mvtime: reserved
  :param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
  :param wait: whether to wait for the arm to complete, default is False
- :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+ :param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
  :return: code
  code: See the API code documentation for details.
  """
@@ -1123,7 +1123,7 @@ def reset(self, speed=None, mvacc=None, mvtime=None, is_radian=None, wait=False,
  :param mvtime: reserved
  :param is_radian: the speed and acceleration are in radians or not, default is self.default_is_radian
  :param wait: whether to wait for the arm to complete, default is False
- :param timeout: maximum waiting time(unit: second), default is 10s, only valid if wait is True
+ :param timeout: maximum waiting time(unit: second), default is None(no timeout), only valid if wait is True
  """
  return self._arm.reset(speed=speed, mvacc=mvacc, mvtime=mvtime, is_radian=is_radian, wait=wait, timeout=timeout)
 

xarm/x3/__init__.py

@@ -1072,7 +1072,8 @@ def _sync(self):
  class _WaitMove:
  def __init__(self, owner, timeout):
  self.owner = owner
- self.timeout = timeout if timeout is not None else 10
+ # self.timeout = timeout if timeout is not None else 10
+ self.timeout = timeout if timeout is not None else -1
  self.timer = None
  self.is_timeout = False
 
@@ -1086,22 +1087,28 @@ def start(self):
  self.check_stop_move()
 
  def check_stop_move(self):
- base_joint_pos = self.owner.angles.copy()
+ # base_joint_pos = self.owner.angles.copy()
  time.sleep(0.1)
  count = 0
  while not self.is_timeout and not self.owner._is_stop and self.owner.connected and not self.owner.has_error:
  if self.owner.state == 4:
  self.owner._sleep_finish_time = 0
  break
  if time.time() < self.owner._sleep_finish_time:
- time.sleep(0.01)
+ time.sleep(0.02)
+ count = 0
+ continue
+ if self.owner.state == 3:
+ time.sleep(0.02)
+ count = 0
  continue
- if self.owner.angles == base_joint_pos or self.owner.state != 1:
+ # if self.owner.angles == base_joint_pos or self.owner.state != 1:
+ if self.owner.state != 1:
  count += 1
  if count >= 10:
  break
  else:
- base_joint_pos = self.owner._angles.copy()
+ # base_joint_pos = self.owner._angles.copy()
  count = 0
  time.sleep(0.05)
  # if not self.is_timeout:

xarm/x3/gripper.py

@@ -313,7 +313,10 @@ def _get_modbus_gripper_err_code(self):
  ret = self.arm_cmd.gripper_modbus_get_errcode()
  logger.info('API -> get_modbus_gripper_err_code -> ret={}'.format(ret))
  if ret[0] in [0, XCONF.UxbusState.ERR_CODE, XCONF.UxbusState.WAR_CODE]:
- self._gripper_error_code = ret[1]
+ if ret[1] < 128:
+ self._gripper_error_code = ret[1]
+ # if ret[1] != 0:
+ # logger.error('gripper error: {}'.format(ret[1]))
  if ret[0] == XCONF.UxbusState.ERR_CODE:
  self.get_err_warn_code()
  if self.error_code == 19 or self.error_code == 28: