Features
This service returns the joint position corresponding to sol_space, which is equivalent to the robot pose in the operating space, among 8 joint shapes.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
pos |
float64[6] |
- |
position list |
|
sol_space |
int |
- |
solution space |
|
ref |
int |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
The ref argument is only available in M2.40 or later versions.
Robot configuration 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 |
Return
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
conv_posj |
float64[6] |
- |
joint angle list |
|
success |
bool |
- |
True or False |