Rare MoveL_Test Failure可打印版本 +- RoboDK Forum (//www.sinclairbody.com/forum) +-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN) +--- Forum: RoboDK API (//www.sinclairbody.com/forum/Forum-RoboDK-API) +--- Thread: Rare MoveL_Test Failure (/Thread-Rare-MoveL-Test-Failure) |
Rare MoveL_Test Failure-rshanor-10-26-2022 Hi, I have the following bit of code for collision checking prior to executing a MoveL command.
Code:
num_collisions = self.robot.MoveL_Test(
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. RE: Rare MoveL_Test Failure-Jeremy-10-31-2022 Do you have a .rdk file we could use to replicate the issue? That would help us help you. 报价: Is there a reason that MoveL_Test only takes a pose but MoveL accepts a list of joint values? Pose or List of joint values doesn't matter here, RoboDK will send it through the forward kinematic anyway to get the Pose. A linear motion do not care about configurations. Jeremy RE: Rare MoveL_Test Failure-rshanor-11-03-2022 I am sending it via email, thank you Jeremy |