From 3b4ce975e600c2a95670e2806dd85b0fe63061ac Mon Sep 17 00:00:00 2001
From: Byeongdulee <blee@anl.gov>
Date: Mon, 11 Dec 2023 13:46:00 -0600
Subject: [PATCH] updated to accommodate the changes of math3d

---
 urx/robot.py   |  5 ++++-
 urx/urrobot.py | 20 ++++++++++++++++++++
 2 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/urx/robot.py b/urx/robot.py
index 160c03a..2e241a6 100644
--- a/urx/robot.py
+++ b/urx/robot.py
@@ -208,7 +208,10 @@ class Robot(URRobot):
         return current transformation from tcp to current csys
         """
         t = self.get_pose(wait, _log)
-        return t.pose_vector.tolist()
+        try:
+            return t.pose_vector.array.tolist()
+        except:
+            return t.pose_vector.tolist()
 
     def set_gravity(self, vector):
         if isinstance(vector, m3d.Vector):
diff --git a/urx/urrobot.py b/urx/urrobot.py
index f08cfc4..9124322 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -354,18 +354,30 @@ class URRobot(object):
         """
         Send a movel command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("movel", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def movep(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
         """
         Send a movep command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("movep", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def servoc(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
         """
         Send a servoc command to the robot. See URScript documentation.
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         return self.movex("servoc", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
 
     def servoj(self, tjoints, acc=0.01, vel=0.01, t=0.1, lookahead_time=0.2, gain=100, wait=True, relative=False, threshold=None):
@@ -391,6 +403,10 @@ class URRobot(object):
         return "{}({}[{},{},{},{},{},{}], a={}, v={}, t={}, lookahead_time={}, gain={})".format(command, prefix, *tjoints)
 
     def _format_move(self, command, tpose, acc, vel, radius=0, prefix=""):
+        try:
+            tpose = tpose.array
+        except:
+            pass
         tpose = [round(i, self.max_float_length) for i in tpose]
         tpose.append(acc)
         tpose.append(vel)
@@ -402,6 +418,10 @@ class URRobot(object):
         Send a move command to the robot. since UR robotene have several methods this one
         sends whatever is defined in 'command' string
         """
+        try:
+            tpose = tpose.array
+        except:
+            pass
         if relative:
             l = self.getl()
             tpose = [v + l[i] for i, v in enumerate(tpose)]