adeck/python-urx-getl-rt
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revert use of movep since it breaks earlier controller versions

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Olivier R-D 2013-08-21 14:41:15 +02:00
parent f4e23b0b67
commit f1b6b5412e
1 changed files with 3 additions and 3 deletions
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6
urx/urx.py
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@ -474,7 +474,7 @@ class Robot(URRobot):
trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect)) trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.apply_transform(trans, acc, vel, wait) 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 move tcp to point and orientation defined by a transformation
if process is True, movep is used instead of movel 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 if pose != None : #movel does not return anything when wait is False
return self.csys_inv * m3d.Transform(pose) 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 Add transform expressed in base coordinate
""" """
pose = self.get_transform() pose = self.get_transform()
return self.apply_transform(trans * pose, acc, vel, wait, process) 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 Add transform expressed in tool coordinate
""" """