# Movep ignores rotation vector if location is already satisfied

**URL:** <https://forum.universal-robots.com/t/movep-ignores-rotation-vector-if-location-is-already-satisfied/31508>\
**Category:** Report a Bug\
**Created:** [November 22, 2023, 3:58am UTC](https://forum.universal-robots.com/t/movep-ignores-rotation-vector-if-location-is-already-satisfied/31508 "2023-11-22T03:58:45Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![lxop](https://avatars.discourse-cdn.com/v4/letter/l/8491ac/32.png) [@lxop](https://forum.universal-robots.com/u/lxop)\
**Post date:** [November 22, 2023, 3:58am UTC](https://forum.universal-robots.com/t/movep-ignores-rotation-vector-if-location-is-already-satisfied/31508/1 "2023-11-22T03:58:45Z")

</div>

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:

```auto
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](https://forum.universal-robots.com/t/movep-not-reaching-target-tcp-orientation/1217) that I think is probably the same problem, but I see that despite the UR support person verifying the behaviour, there was no resolution.

---

<div class="post-metadata">

**Author:** ![ali.mohammadijou\_1](https://avatars.discourse-cdn.com/v4/letter/a/d07c76/32.png) [@ali.mohammadijou\_1](https://forum.universal-robots.com/u/ali.mohammadijou_1)\
**Post date:** [April 18, 2025, 9:21am UTC](https://forum.universal-robots.com/t/movep-ignores-rotation-vector-if-location-is-already-satisfied/31508/2 "2025-04-18T09:21:23Z")

</div>

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).