Features
This service matches the normal vector of the plane consists of points(x1, x2, x3) based on the ref coordinate(refer to get_normal(x1, x2, x3)) and the designated axis of the tool frame. The current position is maintained as the TCP position of the robot.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
x1 |
float64[6] |
- |
position list |
|
x2 |
float64[6] |
- |
position list |
|
x3 |
float64[6] |
- |
position list |
|
axis |
int8 |
- |
TASK_AXIS_X = 0 TASK_AXIS_Y = 1 TASK_AXIS_Z = 2 |
|
ref |
int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
success |
bool |
- |
True or False |