GetRtCartPos#

This command returns the pose of the TRF with respect to the WRF, as calculated from the current joint set read by the joint encoders. It also returns a timestamp.

Syntax#

GetRtCartPos()

Responses#

  • [2211][x, y, z, γ]

    • t: timestamp in microseconds;

    • x, y, z: the coordinates of the origin of the TRF with respect to the WRF, in mm;

    • γ: orientation of the TRF about its z-axis with respect to the WRF, in degrees.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtCartPos is represented by DynamicDataTypeID 41. See Section 4.4.6 for more details.