adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

revert use of movep since it breaks earlier controller versions

Browse Source
This commit is contained in:
Olivier R-D 2013-08-21 14:41:15 +02:00
parent f4e23b0b67
commit f1b6b5412e
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
urx/urx.py
View File

@ -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
"""