Hi! I am a new user and have been familiarizing myself with the URScript language as I try to write a controller to follow trajectories. I am sending the following command to the UR5, which I expect would cause it to move from the first position, to the second position and then back to the first position. Instead, when I run this command nothing happens. When I only send the first two waypoints I get the expected behavior of it moving from position 1 to position 2. Therefore my expectation is that the movej command is not blocking causing only the final waypoint to be moved to.
On other posts Ive read it has been suggested that overly large blend radii would cause waypoints to be skipped but I’ve experimented with different blend radii and this has not helped. Further, there have been no warnings displayed in the Polyscope logs.
Here is the (simple) script I have been running. Any guidance would be greatly appreciated!
def move():
movej([2.862006,-0.408147,0.944654,-0.515333,0.703827,-1.011921], a=0.42, v=0.52, r=0.00)
movej([4.432803,-0.408147,0.944654,-0.515333,0.703827,-1.011921], a=0.42, v=0.52, r=0.01)
movej([2.862006,-0.408147,0.944654,-0.515333,0.703827,-1.011921], a=0.42, v=0.52, r=0.00)
end
move()
Edit: Some additional context that may be useful is that I have connected to the arm with a TCP connection and that I am writing this script all at once rather than line by line