11-23-2022, 12:05 AM
Hi,
I am posting this on behalf of a student of mine, given that he has not received the activation e-mail (the same thing that happened to me a few week ago).
We have been using "MoveL_Test" to evaluate if a a linear motion is possible between to two poses. We have found some situations where the "MoveL_Test" returns "-2" but, in those exact situations, if we run MoveL, it works! According to the docs, when MoveL_Test returns "-2", it means that the target is no reachable at all, which is not the case, given that "MoveL" worked. Actually the poses (joint values) used here were a result of SolveIK_All, where at least one solution was obtained for each, so it should be reachable.
Summarizing, it seems that MoveL_Test gives "-2" in situations where both "MoveL" and "MoveJ" are possible.
I am attaching a project and a python file demonstrating this. We are using RoboDK 5.5.2 and Python 3.9 on a Windows 11 64-bit with Visual Studio Code.
Thanks and best regards,
Hugo Costelha
I am posting this on behalf of a student of mine, given that he has not received the activation e-mail (the same thing that happened to me a few week ago).
We have been using "MoveL_Test" to evaluate if a a linear motion is possible between to two poses. We have found some situations where the "MoveL_Test" returns "-2" but, in those exact situations, if we run MoveL, it works! According to the docs, when MoveL_Test returns "-2", it means that the target is no reachable at all, which is not the case, given that "MoveL" worked. Actually the poses (joint values) used here were a result of SolveIK_All, where at least one solution was obtained for each, so it should be reachable.
Summarizing, it seems that MoveL_Test gives "-2" in situations where both "MoveL" and "MoveJ" are possible.
I am attaching a project and a python file demonstrating this. We are using RoboDK 5.5.2 and Python 3.9 on a Windows 11 64-bit with Visual Studio Code.
Thanks and best regards,
Hugo Costelha