Features
This service receives the input data of joint angles or equivalent forms (float[6]) in the joint space and returns the TCP (objects in the task space) based on the ref coordinate.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
float64[6] |
- |
Joint Space position list |
|
ref |
int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
The ref argument is only available in M2.40 or later versions.
Return
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
conv_posx |
float64[6] |
- |
Task space point |
|
success |
bool |
- |
True or False |