[hugo.costelha]

Hi Albert, thanks for your reply. Please check my questions below.

I just got back to your other post. This is not a bug. The MoveL test function requires a pose as a destination target, not joints.

You can't cross a singularity or change turn flags when doing linear movements, therefore, RoboDK will check if the movement can be done to your pose, not a joint target. You can check if the joints match your expectations. If not, a joint movement will be required afterwards.

While MoveL_Test only accepts a pose as destination target, MoveL accepts both a pose and a joints list values, (at least according to the documentation, and we have been using it as such). This is where I am suggesting that, in the worst case, the MoveL, when used with a joint list targe, should either have a parameter to force compliance, or a return value stating that the given joint list target is not reachable and a new one was given instead.

Nevertheless,my main question now, is 2nd one of my post above, regarding the MoveL Python instruction, namely: "[...] can we be sure that, when RoboDK moves the robot to a different target (same pose, but different joint values) than the one we have given, does that mean that it is not possible to have a linear motion to the specified joint list target?"

Thanks and best regards,
Hugo Costelha