UFactory xArm 7 - Page 147

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If wait = False, send the next commands directly;
mvtime
0,reserved；
Note:
1. If the joint angle is to be set in radian, then is_radian = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 1.57, is_radian = True)
2. To wait for the robotic arm to complete the current commands before returning, wait = True;
ex: code = arm.set_servo_angle (servo_id = 1, angle = 45, is_radian = False, wait = True)
Continuous Joint Motion
Inserting an arc transition between two joint motion commands is a way to plan the continuous
joint motion of the robotic arm.
Blockly:
The motion trajectory of the robotic arm in the above example is as follows:
Key parameter description
Radius = 60
Radius =60 in the "move joint" command refers to setting the radius of the transition
arc R = 60mm, which is used to achieve a smooth transition of the arc in a joint
motion.
The parameters of Radius can be set as Radius> 0, Radius = 0, Radius = -1,