integration:rtde
Unterschiede
Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende ÜberarbeitungLetzte ÜberarbeitungBeide Seiten der Revision | ||
integration:rtde [2023/07/17 16:30] – [Available units and channels] oliver | integration:rtde [2023/07/18 22:27] – [Available units and channels] oliver | ||
---|---|---|---|
Zeile 13: | Zeile 13: | ||
< | < | ||
- | < | + | < |
< | < | ||
< | < | ||
< | < | ||
- | <Channel name="q0"/> | + | <Channel name="URAngle0"/> |
- | <Channel name="q1"/> | + | <Channel name="URAngle1"/> |
- | <Channel name="q2"/> | + | <Channel name="URAngle2"/> |
- | <Channel name="q3"/> | + | <Channel name="URAngle3"/> |
- | <Channel name="v0"/> | + | <Channel name="URAngle4"/> |
- | <Channel name="v1"/> | + | <Channel name="URAngle5"/> |
- | <Channel name="v2"/> | + | <Channel name="URAngularVelocity0"/> |
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | |||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
+ | <Channel name=" | ||
</ | </ | ||
| | ||
Zeile 40: | Zeile 49: | ||
====Available units and channels ==== | ====Available units and channels ==== | ||
- | ^ Unit name^ UR Tag ^Description ^ Channel name ^ Unit ^ Type ^ | + | ^ Unit name^ UR Tag ^Description ^ Channel name ^ Channel type ^ Unit ^ Type ^ |
- | ^ actual | actual_q | Actual joint positions/ | + | ^ actual | actual_q | Actual joint positions/ |
- | ^ actual | actual_qd | Actual joint velocities/ | + | ^ actual | actual_qd | Actual joint velocities/ |
- | ^ actual | actual_current | Actual joint currents for 6 joints. | Current< | + | ^ actual | actual_current | Actual joint currents for 6 joints. | URCurrent< |
- | ^ actual | Temperatures in 6 joints | + | ^ actual | actual_TCP_pose | Actual Cartesian coordinates |
- | ^ actual | Actual | + | ^ actual |
- | ^ actual | Actual TCP orientation | + | ^ actual | joint_temperatures |
- | ^ actual | Time elapsed since the controller was started | T | s | REAL | | + | ^ actual |
^ target | target_q | Target joint positions/ | ^ target | target_q | Target joint positions/ | ||
^ target | target_qd | Target joint velocities/ | ^ target | target_qd | Target joint velocities/ |
integration/rtde.txt · Zuletzt geändert: 2023/07/18 22:30 von oliver