How does "Use Joint Angles" actually work?

Technical Questions URScript
1

I"ve had some issues in the past with the “use Joint Angles” option in the MoveJ node, so I was looking at it a bit harder today.

I notice that nothing changes in the .script file generated from the .urp file whether or not that box is checked.
Anyone know what magic they use to “guarantee” that the actual position will be used?

2

Hi, have a look at the move script. has get_inverse_kin or not

movej(u36335u28857_1_q, a=1.3962634015954636, v=1.0471975511965976)
movej**(get_inverse_kin(u36335u28857_1_p, qnear=u36335u28857_1_q),** a=1.3962634015954636, v=1.0471975511965976)

global u36335u28857_1_p=p[-.143990586228, -.415626295263, .202528882734, -.001221359682, 3.116276528482, .038891915637]

global u36335u28857_1_q=[-1.6006999999999998, -1.7271, -2.2029999999999994, -0.8079999999999998, 1.5951, -0.030999999999999694]

global u36335u28857_2_p=p[-.143990586228, -.415626295263, .470038882734, -.001221359682, 3.116276528482, .038891915637]

global u36335u28857_2_q=[-1.6006999998759524, -1.454386588910011, -1.7203146269005867, -1.5633987841863863, 1.5951000000032087, -0.03099999987595492]

while (True):

$ 1 "机器人程序"

$ 2 "MoveJ"

$ 3 "路点_1" "breakAfter"

movej(get_inverse_kin(u36335u28857_1_p, qnear=u36335u28857_1_q), a=1.3962634015954636, v=1.0471975511965976)

$ 4 "路点_2" "breakAfter"

movej(get_inverse_kin(u36335u28857_2_p, qnear=u36335u28857_2_q), a=1.3962634015954636, v=1.0471975511965976)

$ 5 "MoveJ"

$ 6 "路点_1" "breakAfter"

movej(u36335u28857_1_q, a=1.3962634015954636, v=1.0471975511965976)

$ 7 "路点_2" "breakAfter"

movej(u36335u28857_2_q, a=1.3962634015954636, v=1.0471975511965976)