ur-kotlin/com.wolfscowl.ur_client.interfaces.state/ArmState

ArmState

interface ArmState : URScriptState

Properties

abstract val errorOccurred: Boolean

abstract val errors: List<Error>

abstract val jointPosition: JointPosition

abstract val payload: Float

abstract val payloadCog: Vec3

abstract val payloadInertia: Inertia

abstract val runningState: RunningState

abstract val safetyModeStop: Boolean

abstract val scriptName: String

abstract val tcpOffset: Pose

abstract val tcpPose: Pose

Functions

abstract override fun copy(): ArmState

toFormattedString

abstract fun toFormattedString(jointsInDegree: Boolean = false, tcpPoseInDegree: Boolean = false, tcpPoseInMillimeter: Boolean = false, tcpOffsetInDegree: Boolean = false, tcpOffsetInMillimeter: Boolean = false, roundDecimals: Boolean = false): String

Returns a string representation of the arm state using the requested units.