#错误的例子。MoveL_Test # RoboDK”““我得到when I run this script: the MoveL_Test returns -2 which means movement between jointVector0 and jointVector1 should not be possible. However when I try to move from jointVector0 and jointVector1 with linear motion the robot does the motion and no exceptions are raised.""" from robodk import robolink # RoboDK API from robodk import robomath # Robot toolbox USE_EXISTING_GUI = True # Link to RoboDK if USE_EXISTING_GUI: RDK = robolink.Robolink() else: RDK = robolink.Robolink(args=['/NOSPLASH', '/NOSHOW'], quit_on_close=True) # Select a robot (popup is displayed if more than one robot is available) robot = RDK.ItemUserPick('Select a robot', robolink.ITEM_TYPE_ROBOT) if not robot.Valid(): raise Exception('No robot selected or available') robot.setPoseFrame(robot.PoseFrame()) robot.setPoseTool(robot.PoseTool()) robot.setRounding(5) robot.setSpeed(200) robot_joints = robot.Joints() robot_position = robot.SolveFK(robot_joints) Myframe = RDK.Item('TunnelFrame') # These are joint values for 2 different targets jointVector0 = [-2.673, 11.398, 0.966, -276.009, -88.591, -167.432] jointVector1 = [-1.381, 10.534, -14.661, -277.682, -86.983, 176.095] test = robot.MoveL_Test(j1=robomath.Mat(jointVector0), pose=robot.SolveFK(robomath.Mat(jointVector1))) print('test: ' + str(test)) RDK.setSimulationSpeed(1.0) # Move from jointVector0 and jointVector1 with linear motion robot.setJoints(robomath.Mat(jointVector0)) print("Performing linear motion between jointVector0 and jointVector1. Should not be possible according to MoveL_Test.") robot.MoveL(robomath.Mat(jointVector1))