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changes in rx properties. return 0 as returning axis angle value does not seem helpfull at that level

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This commit is contained in:
olivier R-D 2016-04-27 15:15:09 +02:00
parent a283eef172
commit 4083f9d9e0
1 changed files with 12 additions and 15 deletions
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27
urx/robot.py
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@ -261,36 +261,33 @@ class Robot(URRobot):
@property @property
def rx(self): def rx(self):
p = self.getl() return 0
return p[3]
@rx.setter @rx.setter
def rx(self, val): def rx(self, val):
p = self.getl() p = self.get_pose()
p[3] = val p.orient.rotate_xb(val)
self.movel(p) self.set_pose(p)
@property @property
def ry(self): def ry(self):
p = self.getl() return 0
return p[4]
@ry.setter @ry.setter
def ry(self, val): def ry(self, val):
p = self.getl() p = self.get_pose()
p[4] = val p.orient.rotate_yb(val)
self.movel(p) self.set_pose(p)
@property @property
def rz(self): def rz(self):
p = self.getl() return 0
return p[5]
@rz.setter @rz.setter
def rz(self, val): def rz(self, val):
p = self.getl() p = self.get_pose()
p[5] = val p.orient.rotate_zb(val)
self.movel(p) self.set_pose(p)
@property @property
def x_t(self): def x_t(self):