GetCurrentSolutionSpace.srv
Features
It is a service to get the the current solution space value.
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
solution_space | int8 | - | solution space (0~7) |
success | bool | - | True or False |
Robot configuration (shape vs. solution space)
Solution space | Binary | Shoulder | Elbow | Wrist |
|---|---|---|---|---|
0 | 000 | Lefty | Below | No Flip |
1 | 001 | Lefty | Below | Flip |
2 | 010 | Lefty | Above | No Flip |
3 | 011 | Lefty | Above | Flip |
4 | 100 | Righty | Below | No Flip |
5 | 101 | Righty | Below | Flip |
6 | 110 | Righty | Above | No Flip |
7 | 111 | Righty | Above | Flip |