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Limb

Control over the pose of the end-effector of a robotic limb, such as an arm.

Inputs

Port name Purpose Data
OAP Full pose control of the end-effector in (Orientation, Approach, Position) vector format, in metres. OAP
P Position control of the end-effector, allowing the orientation to be freely chosen by the underlying driver, in metres. Vector3D

Outputs

Port name Purpose Data
State Current state of the end-effector: pose and status. LimbState

LimbState

Member Type Description
time Time Time stamp.
oap OAP Orientation, approach and position of the end-effector.
status LimbStatus Current status of the limb.

LimbStatus

Value Description
LIMB_STATUS_IDLE Limb is not moving.
LIMB_STATUS_BRAKED Brakes are engaged.
LIMB_STATUS_MOVING Limb is moving.
LIMB_STATUS_OOR Target position or pose is outside the reachable space.
LIMB_STATUS_COLLISION Target position or pose would cause a collision.

Services

Port name Purpose Parameters Return data
GetGeometry Device position and size information. None Geometry3D
Power Enable or disable power to the limb. boolean enable None
Brakes Engage or disengage limb brakes. boolean brakes None
Speed Set the speed at which the end-effector will move. double speed None
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