Get Pose

Overview

Get Pose is a User Components that generates a button named Get Pose if you drag and drop it into the UI PREVIEW panel.

When pressing the Get Pose button, API will be called to get the current pose of the robot and return values coordinated at the back end.

This button is meaningless if standing alone. It is meaningful when combined with a coordinate form (J1-J6 or X, Y, Z, Rx, Ry, Rz).
Users can use this current pose/position data to get into coordinate forms like Joint Pose Control or Task Pose Control User Component.

Import

After dragging and dropping Get Pose to the UI PREVIEW panel, the following will be imported to Code Editor:

Library:

CODE

import GetPose, { GetPoseAPI } from './buc/get.pose.control';

Source code:

NONE

<GetPose moduleContext={this.moduleContext} buttonName={"Get Pose"} eSpaceType={0}></GetPose>

./buc/ can be changed to ../../../buc or ../buc or others depending on package level of current file .tsx file.

Property

The PROPERTY Panel of this User Component includes the following, and you can edit it:

Group

Type

Default Value

Description

1

iconButton

Textbox

assets/images/Buttonnew.png

Change icon of button.

Require image resolution is 16x16px, and maximum size is 5MB

Supported formats are PNG, JPG, SVG.

2

buttonName

Textbox

Text

Setting change default name of button.

3

eSpaceType

Textbox

0

Set up type Joint/Task

0:Joint
1:Task

When clicking the copy icon next to each item in the DOCUMENT group of the PROPERTY panel, the corresponding textbox values will be copied to the clipboard.
If you type code for User Component in Code Editor, the corresponding value will be reflected in the PROPERTY panel. Also, if you change the properties of each User Component, the corresponding source code will be generated to Code Editor.

Code Sample

When the user changes the value in the PROPERTY panel, the corresponding source code will be generated in the Code Editor.

CODE

<GetPose
          moduleContext={this.context}
          buttonName={'Get-Pose'}
          eSpaceType={1}
          iconButton={<img src={IconSize} />}
        ></GetPose>