set_mode() incorrectly handles joint teaching mode

[Pavel-P]

Calling arm.set_mode(2) results in the mode being set to 0 if the current mode is not 0. Below is a minimal example:

from xarm.wrapper import XArmAPI
import time

ip = "192.168.1.195"
arm = XArmAPI(ip)

arm.set_mode(0)
time.sleep(0.5)
print(f"Mode is: {arm.mode}")
non_zero_mode = 1
arm.set_mode(non_zero_mode)
time.sleep(0.5)
print(f"Mode is: {arm.mode}")
arm.set_mode(2)
time.sleep(0.5)
print(f"Mode is: {arm.mode}")

arm.disconnect()

The output this generates is:

SDK_VERSION: 1.15.3
ROBOT_IP: 192.168.1.195, VERSION: v2.5.1, PROTOCOL: V1, DETAIL: 6,12,FX8510,AC8500,v2.5.1, TYPE1300: [1, 1]
change protocol identifier to 3
Mode is: 0
Mode is: 1
Mode is: 0

The final line is expected to read "Mode is: 2". From my testing this seems to only happen when setting mode to 2 and no other mode.
As a work around, I'm calling set_mode(0) followed by set_mode(2) but wanted to make you aware of this problem.

Thanks

[penglongxiang]

Hi, This is a known behavior and was designed to be this way in early versions. Mode 2 could only be switched from mode 0. We will add this notice later in our document, or maybe consider the possibility to switch directly from other mode. Thanks for your feedback.