Revert headless_mode=false

Author: urfeex

doc/architecture/instruction_executor.rst

@@ -16,6 +16,22 @@ to point motions easily accessible. Currently, it supports the following instruc
 * Execute OptimoveL point to point motions (For PolyScope 5.21 / PolyScope 10.8 and later)
 * Execute sequences consisting of the motion primitives above
 
+Joint and Cartesian targets
+---------------------------
+
+Every motion function comes in two flavours:
+
+* A "native" overload whose parameter is the target type that matches the underlying URScript
+  command (``vector6d_t`` for ``moveJ`` / ``optimoveJ``, ``urcl::Pose`` for ``moveL``, ``moveP``,
+  ``moveC`` and ``optimoveL``). Braced-initializer-list calls such as
+  ``moveJ({ q1, q2, q3, q4, q5, q6 })`` bind to this overload and keep the behaviour from older
+  releases.
+* A ``urcl::MotionTarget`` overload that accepts either a ``urcl::Q`` (joint configuration) or a
+  ``urcl::Pose`` (Cartesian pose). This lets the same function perform a motion whose target type
+  does not match the URScript command's natural argument, e.g. ``moveJ(urcl::Pose{...})`` to reach
+  a Cartesian target with a joint-interpolated motion, or ``moveL(urcl::Q{...})`` to perform a
+  linear tool-space motion towards the pose implied by a joint configuration.
+
 The Instruction Executor uses the :ref:`trajectory_point_interface` and the
 :ref:`reverse_interface`
 for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driver` object.

examples/instruction_executor.cpp

@@ -58,7 +58,7 @@ int main(int argc, char* argv[])
     robot_ip = std::string(argv[1]);
   }
 
-  bool headless_mode = false;
+  bool headless_mode = true;
   g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                            "external_control.urp");
   if (!g_my_robot->getUrDriver()->checkCalibration(CALIBRATION_CHECKSUM))