GetRtTargetCartPos#

This command returns the current target pose of the TRF relative to the WRF, rather than the pose derived from real-time data provided by the joint encoders.

Syntax#

GetRtTargetCartPos()

Responses#

  • [2201][x, y, z, α, β, γ]

    • t: timestamp in microseconds;

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

    • α, β, γ: Euler angles representing the orientation of the TRF with respect to the WRF, in degrees.

Note

The deprecated GetPose command, which is still supported, returns the same data, except for the timestamp. Additionally, the message ID differs and is 2027.

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the command GetRtTargetCartPos is represented by the TargetEndEffectorPose section (see Section 4.5.4).