10-26-2022, 04:59点
Hi,
I have the following bit of code for collision checking prior to executing a MoveL command.
This code has been running super reliably. The robot is not close to a singularity and the move distance is less than 50mm or so. Seemingly out of the blue, the MoveL_Test call failed, returning -1, indicating the robot cant make a linear movement.
My guess is that for some reason, the robot picked a different joint solution not close to the current configuration. Is there a reason that MoveL_Test only takes a pose but MoveL accepts a list of joint values? Any other advice on how to debug this / make sure it does not happen moving forward? It would be nice MoveL_Test could take a list of joints that I could validate is close to the current config.
I have the following bit of code for collision checking prior to executing a MoveL command.
Code:
num_collisions = self.robot.MoveL_Test(
current_joints, target, minstep_mm=20
)
My guess is that for some reason, the robot picked a different joint solution not close to the current configuration. Is there a reason that MoveL_Test only takes a pose but MoveL accepts a list of joint values? Any other advice on how to debug this / make sure it does not happen moving forward? It would be nice MoveL_Test could take a list of joints that I could validate is close to the current config.