CheckForceCondition.srv
Features
This service checks the status of the given force. It disregards the force direction and only compares the sizes. This condition can be repeated with the while or if statement. Measuring the force, axis is based on the ref coordinate and measuring the moment, axis is based on the tool coordinate.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
axis | int8 | - | FORCE_AXIS_X = 0 FORCE_AXIS_Y = 1 FORCE_AXIS_Z = 2 FORCE_AXIS_A = 10 FORCE_AXIS_B = 11 FORCE_AXIS_C = 12 |
min | float64 | - | Minimum value (min ≥ 0) |
max | float64 | - | Maximum value (max ≥ 0) |
ref | int8 | 0 | MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
Return
Return Name | Data Type | Default Value | Description |
|---|---|---|---|
success | bool | - | True or False |