Try Moving Smoothly through Following Non-Moves

Default: False

List of values: True, False

Instruction:

When move tasks are connected through non-move tasks, such as visual_look, set_do, check_di, etc., the robot’s trajectory planning will be interrupted, and the actual robot will take a short pause, reducing the smoothness of running.

When this parameter is set to True, the mission may end prematurely when the move points of a move task are the same as those of the last move task.

Cause:

When this parameter is set to True, multiple move points are sent to the robot at the same time. Mech-Viz considers the robot has finished all the move tasks in sequence if the current JPs sent back is the same as the JPs of the last move point sent to the robot.

Example:

For a trajectory consists of 10 move tasks of which the fifth and the last have the same move point, if the robot’s speed is low, Mech-Viz may mistakenly determine that the robot has finished the move tasks and prematurely ends the tasks when the robot moves to the move point of the fifth move task, which is the same as that of the last one, and sends the JPs to Mech-Viz.

Display:

Symbol displayed when the parameter is set to True: