GetRtTargetConf

This command returns the posture configuration parameters calculated from the current target joint set.

Syntax

GetRtTargetConf()

Responses

• [2208][c_s, c_e, c_w]

  • c_s: shoulder configuration parameter, -1, 1, or 0^†;

  • c_e: elbow configuration parameter, -1, 1, or 0^†;

  • c_w: wrist configuration parameter, -1, 1, or 0^†.

^† At the corresponding singularity, we return 0, but display the text “n/a” in the MecaPortal.

Usage restrictions

This command can be executed in any robot state.

Cyclic protocols

In cyclic protocols, the command GetRtTargetConf is represented by the TargetConfiguration section (see Section 4.5.5).