From f1b6b5412eb43bb44b3abad4259b1d690f6d4d23 Mon Sep 17 00:00:00 2001 From: Olivier R-D Date: Wed, 21 Aug 2013 14:41:15 +0200 Subject: [PATCH] revert use of movep since it breaks earlier controller versions --- urx/urx.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/urx/urx.py b/urx/urx.py index b36f290..6de861d 100644 --- a/urx/urx.py +++ b/urx/urx.py @@ -474,7 +474,7 @@ class Robot(URRobot): trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect)) return self.apply_transform(trans, acc, vel, wait) - def apply_transform(self, trans, acc=None, vel=None, wait=True, process=True): + def apply_transform(self, trans, acc=None, vel=None, wait=True, process=False): """ move tcp to point and orientation defined by a transformation if process is True, movep is used instead of movel @@ -491,14 +491,14 @@ class Robot(URRobot): if pose != None : #movel does not return anything when wait is False return self.csys_inv * m3d.Transform(pose) - def add_transform_base(self, trans, acc=None, vel=None, wait=True, process=True): + def add_transform_base(self, trans, acc=None, vel=None, wait=True, process=False): """ Add transform expressed in base coordinate """ pose = self.get_transform() return self.apply_transform(trans * pose, acc, vel, wait, process) - def add_transform_tool(self, trans, acc=None, vel=None, wait=True, process=True): + def add_transform_tool(self, trans, acc=None, vel=None, wait=True, process=False): """ Add transform expressed in tool coordinate """