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 [2023/07/18 11:38] – [Available units and channels] oliver | integration:rtde [2023/07/18 22:27] – [Available units and channels] oliver | ||
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Zeile 49: | 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 | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< | + | ^ actual | actual_TCP_pose | Actual Cartesian coordinates of the tool: (x,y,z) | v< |
- | ^ actual | actual_TCP_pose | Actual orientation | + | ^ actual | actual_TCP_pose | Actual orientation of the tool: (rx,ry,rz), where rx, ry and rz is a rotation vector representation of the tool orientation | r< |
- | ^ actual | Temperatures in 6 joints of an UR-robot. | URt< | + | ^ actual |
+ | ^ actual | timesamp | Time elapsed since the controller was started. | T | TIMESTAMP | s | REAL | | ||
- | ^ actual | Time elapsed since the controller was started | T | s | REAL | | ||
^ 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