From 7ec4165fc28061d6c2706c4cc8e379c8e5aea74d Mon Sep 17 00:00:00 2001 From: Olivier R-D Date: Fri, 20 Dec 2013 14:56:48 +0100 Subject: [PATCH] make it clear that path blending is currently not available --- README | 1 - urx/robot.py | 7 +++---- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/README b/README index 4dc6a47..7c13ec9 100644 --- a/README +++ b/README @@ -38,7 +38,6 @@ while True : break robot.movel(x, y, z, rx, ry, rz), wait=False) ->>>>>>> 43397b6cea74844db7a98bc58649fda3fce86cba while.robot.getForce() < 50: sleep(0.01) if not robot.is_program_running(): diff --git a/urx/robot.py b/urx/robot.py index 77029e0..1e80b00 100644 --- a/urx/robot.py +++ b/urx/robot.py @@ -304,7 +304,7 @@ class URRobot(object): """ Send a movep command to the robot. See URScript documentation. From URX the main advantage of movep is that it allows for path blending if - math3d is installed + math3d is installed (BROKEN!) """ if relative: l = self.getl() @@ -461,8 +461,7 @@ class Robot(URRobot): trans.orient = orient self.apply_transform(trans, acc, vel, radius, wait=wait) - def set_orientation(self, orient, acc=None, vel=None, wait=True): - self.orient(orient, acc, vel, wait=wait) + set_orientation = orient def translate(self, vect, acc=None, vel=None, radius=0, wait=True): """ @@ -499,7 +498,7 @@ class Robot(URRobot): if process is True, movep is used instead of movel if radius is not 0 and wait is True, the method will return when tcp is radius close to the target. It is then possible to send another command - and the controller will blend the path. Blending only works with process(movep). + and the controller will blend the path. Blending only works with process(movep). (BROKEN!) """ if not acc: acc = self.default_linear_acceleration