arm_plot.py

from xarm.wrapper import XArmAPI
import numpy as np

Z_DRAW = 0  # Draw height (mm)
Z_MOVE = 5  # Jog height (mm)
MOVE_SPEED = 80  # mm/s
DRAW_SPEED = 30  # mm/s
PEN_DIAMETER = 8  # mm


arm = XArmAPI('192.168.1.205')  # Arm is named arm

arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)


# accounting for 8 mm thick base arm is mounted to
arm.set_world_offset([-260, 0, 8, 0, 0, 0])

# pen tip position relative to center of mount
arm.set_tcp_offset([42.75 + np.sqrt(2)*(PEN_DIAMETER/2), 0, 97, 0, 0, 0])
arm.set_state(state=0)

arm.set_position(z=Z_MOVE)

# moves down to pen
arm.set_position(x=0, y=0, z=0.5, roll=180, pitch=0,
                 yaw=0, speed=20, wait=True)

# insert pen here!!
input('Insert the pen and press enter!')


# continue
arm.set_position(z=10, speed=5, wait=True)


moves = np.genfromtxt('commands.csv', delimiter=',')
positions = np.array([[0, 0, Z_MOVE, MOVE_SPEED]])

for move in moves:
    if move[0] == 0:
        positions = np.append(
            positions, [[move[2], move[1], Z_MOVE, MOVE_SPEED]], axis=0)
        positions = np.append(
            positions, [[move[2], move[1], Z_DRAW, DRAW_SPEED]], axis=0)
    elif move[0] == 1:
        positions = np.append(
            positions, [[move[2], move[1], Z_DRAW, DRAW_SPEED]], axis=0)
    elif move[0] == 2:
        positions = np.append(
            positions, [[move[2], move[1], Z_DRAW, DRAW_SPEED]], axis=0)
        positions = np.append(
            positions, [[move[2], move[1], Z_MOVE, DRAW_SPEED]], axis=0)
    else:
        print('uh oh')


for coords in positions:
    # With radius and no wait
    arm.set_position(*coords[0:3], speed=coords[3], radius=-1, wait=True)

    # No wait, with radius
    # arm.set_position(*coords[0:3], speed = coords[3], radius = 0.2, wait=False)