From 0cc7318a8e4fc1216ee78cdc205c1eadebe4c9d9 Mon Sep 17 00:00:00 2001 From: Olivier R-D Date: Wed, 3 Apr 2013 10:55:35 +0200 Subject: [PATCH] avoid using a, b, c notation when it is a rotation vector --- urx/urx.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/urx/urx.py b/urx/urx.py index d758e55..7ee9b93 100644 --- a/urx/urx.py +++ b/urx/urx.py @@ -101,7 +101,7 @@ class URRobot(object): force += i**2 return force**0.5 - def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0): + def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0): """ """ if type(x) in (list, tuple): @@ -110,7 +110,7 @@ class URRobot(object): else: arg = x else: - arg = (x, y, z, a, b, c) + arg = (x, y, z, rx, ry, rz) prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg self.secmon.send_program(prog) @@ -344,10 +344,10 @@ class Robot(URRobot): self.inverse = self.calibration.inverse() self.tracker = None - def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0): + def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0): if type(x) == math3d.Transform: x = x.pose_vector - URRobot.set_tcp(self, x, y, z, a, b, c) + URRobot.set_tcp(self, x, y, z, rx, ry, rz) def set_calibration_matrix(self, matrix): self.calibration = matrix