TaskComplianceCtrl.srv
Features
This service begins task compliance control based on the preset reference coordinate system.
Parameters(Stiffness TBD)
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
stx | float64[6] | [3000, 3000, 3000, 200, 200, 200] | Three translational stiffnesses Three rotational stiffnesses |
ref | int8 | 1 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
time | float | 0 | Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |