From 63dff0051388e2d3abd17073e209f3a8c8691c8f Mon Sep 17 00:00:00 2001 From: Alvaro Capellan Date: Fri, 27 May 2016 13:45:02 +0200 Subject: [PATCH] Avoided to orient velocity for joint speedj in robot.py, likely named method from urrobot.py received wrong data --- urx/robot.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/urx/robot.py b/urx/robot.py index ed73a12..52c6b08 100644 --- a/urx/robot.py +++ b/urx/robot.py @@ -149,9 +149,13 @@ class Robot(URRobot): send command to robot formated like speedl or speedj move at given velocities until minimum min_time seconds """ - v = self.csys.orient * m3d.Vector(velocities[:3]) - w = self.csys.orient * m3d.Vector(velocities[3:]) - URRobot.speedx(self, command, np.concatenate((v.array, w.array)), acc, min_time) + if command != "speedj": + v = self.csys.orient * m3d.Vector(velocities[:3]) + w = self.csys.orient * m3d.Vector(velocities[3:]) + vels = np.concatenate((v.array, w.array)) + else: + vels = velocities + URRobot.speedx(self, command, vels, acc, min_time) def speedl_tool(self, velocities, acc, min_time): """