[roeslib]

I want to know if linear movement between two targets is possible. For this I have created a function where I use the command moveL_Test and SolveFK. Unfortunately in all the L movements that the robot performs the result is -2 but the robot can perform L movements.

Please could you check my function and tell me what I should correct.

PHP Code:

def move_L_test(target_pallet_i):
TCP_ITEM=RDK.Item('TCP A',ITEM_TYPE_TOOL)

pose_1=CalculatePoseFrame2Object(frame_robot,TCP_ITEM)
ti_1=RDK.AddTarget("position_1",frame_robot)
ti_1.setPose(pose_1)
startpoint=ti_1.Joints（）

ti_2=RDK.AddTarget("position_2",frame_pallet)
ti_2.setPose(target_pallet_i)
pose_2=CalculatePoseFrame2Object(frame_robot,ti_2)
关节=robot.SolveFK(pose_2,robot.PoseTool（）)

问题=robot.MoveL_Test(startpoint,关节)

RDK.ShowMessage(str(问题))

ti_1.删除（）
ti_2.删除（）