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SintefManufacturing / python-urx

Python library to control a robot from 'Universal Robots' http://www.universal-robots.com/
GNU Lesser General Public License v3.0
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movejs calling movexs in robot.py leading to unwanted transformations #69

Closed jonasgerne closed 5 years ago

jonasgerne commented 5 years ago

When calling the movejs function in urrobot.py, the code calls self.movexs which references the movexs function in robot.py which does the following with the pose_list parameter:

new_poses = []
        for pose in pose_list:
            t = self.csys * m3d.Transform(pose)
            pose = t.pose_vector
            new_poses.append(pose)

The content of the pose_list being joint angles, this leads to unwanted behaviour of the last three joints.