Python:

End-Effector Real-Time Information rm_plus_state_info_t

Parameter description

Parameter	Type	Description
sys_state	int	System status.
dof_state	list[int]	Current state of each degree of freedom.
dof_err	list[int]	Error information of each degree of freedom.
pos	list[int]	Current position of each degree of freedom.
speed	list[int]	Current speed of each degree of freedom, positive for closing, negative for releasing, unit: dimensionless.
angle	list[int]	Current angle of each degree of freedom.
current	list[int]	Current current of each degree of freedom.
normal_force	list[int]	Normal force of the three-dimensional tactile force of each degree of freedom.
tangential_force	list[int]	Tangential force of the three-dimensional tactile force of each degree of freedom.
tangential_force_dir	list[int]	Direction of the tangential force of the three-dimensional tactile force of each degree of freedom.
tsa	list[int]	Tactile self-approach of each degree of freedom.
tma	list[int]	Tactile mutual approach of each degree of freedom.
touch_data	list[int]	Raw data of the tactile sensors.
force	list[int]	Torque of each degree of freedom, positive for closing, negative for releasing, unit: 0.001N.

Member function

rm_plus_state_info_t.to_dict(self,recurse = True)

Returns the class variables as a dictionary. If recurse is True, it recursively processes the fields of the ctypes structure.