Movep ignores rotation vector if location is already satisfied

Technical Questions Report a Bug
1

If I give a movep command to the robot that includes the XYZ location of the TCP, then the rotation part of the target pose is ignored. Reproduction is easy, here’s a script:

def unnamed():
  set_tcp(p[-0.04014,2.0E-4,0.09948,1.2092,-1.2092,-1.2092])
  set_gravity([0.0, 0.0, 9.82])
  set_target_payload(2.000000, [0.016, -0.014, 0.101], [0.004887, 0.004887, 0.004887, 0.0, 0.0, 0.0])
  Waypoint_1_p=p[-.300, -.250, .350, .0, 0.0, .0]
  Waypoint_2_p=p[-.300, -.250, .350, .0, 1.0, .0]  # <- Only differs in rotation
  movep(Waypoint_1_p, a=0.5, v=0.1)
  movep(Waypoint_2_p, a=0.5, v=0.1)
end

With this script, I would expect that the robot would rotate around the TCP, but it doesn’t move at all.

I found this forum post that I think is probably the same problem, but I see that despite the UR support person verifying the behaviour, there was no resolution.

2

Hi there,

In case you still face this issue,
Try to input Joint angles instead of Pose to MoveP command. it fixed the issue for me.

So from movep(pose, a=1.2, v=0.25, r=0) ==> movep(JointAngles, a=1.2, v=0.25, r=0).