OuterMove outer_move

Description

../../../../_images/property2.png

Perform target pose to be moved obtained from external services

This module is used by Mech-Viz to obtain the target pose moved from an external service and run the robot to that pose. It must be used in conjunction with the adapter

Parameters

Basic parameters of movement tasks

See General Parameters of Move Skills

serviceName

The external server name registered by the adapter on the Mech-Center. This parameter must be unified with the adapter to obtain the module interface via the server name and send to the destination.

getJ

By default it is False, the position where the last planning ended will be used for the initial position of the software planning trajectory; if it is checked as True, the initial position of the software planning trajectory will be updated to the robot joint position obtained from the external. It is usually used when Mech-Viz does not fully control the robot motion