Python:

Robotic Arm Position and Orientation Structure rm_frame_t

Parameter description

Parameter	Type	Description
frame_name	bytes	Frame name, up to 10 bytes (including the null byte at the end).
pose	rm_pose_t	Frame pose, containing position and orientation.
payload	float	End effector payload weight, in kg.
x	float	X-coordinate of the center of mass of end effector payload.
y	float	Y-coordinate of the center of mass of end effector payload.
z	float	Z-coordinate of the center of mass of end effector payload.

Constructor function

rm_frame_t.__init__(self,str  frame_name = None,tuple[float, float, float, float, float, float]  pose = None,float  payload = None,float  x = None,float  y = None,float  z = None)

Parameter description:

Parameter	Type	Description
frame_name	str, optional	Frame name, up to 10 bytes. Default: None.
pose	tuple[float, float, float, float, float, float], optional	Tuple of the frame pose, containing three position coordinates (x, y, z) and three Euler angles (rx, ry, rz).
payload	float, optional	End effector payload weight, in kg. Default: None.
x	float, optional	X-coordinate of the center of mass of end effector payload, in m. Default: None.
y	float, optional	Y-coordinate of the center of mass of end effector payload, in m. Default: None.
z	float, optional	Z-coordinate of the center of mass of end effector payload, in m. Default: None.

Return value:

Parameter	Type
ValueError	Return if the frame_name is longer than 10 bytes.
ValueError	Return if the pose is not a tuple containing 6 floats (x, y, z, rx, ry, rz).

Member function

dict[str, any] Robotic_Arm.rm_ctypes_wrap.rm_frame_t.to_dictionary(self)

Convert the rm_frame_t to a dictionary. Parameter description:

Parameter	Type	Description
name	str	Frame name.
pose	List[float]	List of positions and Euler angles, represented by [x, y, z, rx, ry, rz].
payload	float	End effector payload weight, in kg.
x	float	Position of end effector payload, in m.
y	float	Position of end effector payload, in m.
z	float	Position of end effector payload, in m.