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Avoided to orient velocity for joint speedj in robot.py, likely named method from urrobot.py received wrong data

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This commit is contained in:
Alvaro Capellan 2016-05-27 13:45:02 +02:00
parent 41e494758e
commit 63dff00513
1 changed files with 7 additions and 3 deletions
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6
urx/robot.py
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@ -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
"""
if command != "speedj":
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)
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):
"""