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0x4600 - ReportManipulatorSpecifications

Description

This message provides the specifications of the manipulator including the number of joints, the link length and twist angle of each link, the joint offset (for revolute joints) or joint angle (for prismatic joints), the minimum and maximum value for each joint, and the minimum and maximum speed for each joint.

Structure

ReportManipulatorSpecifications
 ReportManipulatorSpecification
   ManipulatorCoordinateSystemRec
   FirstJointParameters
     RevoluteJoint1OffsetRec
     PrismaticJoint1AngleRec
   JointSpecificationList
     JointSpecifications
       RevoluteJointSpecificationRec
       PrismaticJointSpecificationRec
   JointNamesList
     JointNameRec

ReportManipulatorSpecification

Type: Sequence

Field # Field Name Type Optional Interpretation
1 PresenceVector uint8
2 ManipulatorCoordinateSystemRec ManipulatorCoordinateSystemRec true
3 FirstJointParameters FirstJointParameters false
4 JointSpecificationList JointSpecificationList false
5 JointNamesList JointNamesList true

ManipulatorCoordinateSystemRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 ManipulatorCoordinateSysX uint32 meter false x coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system
2 ManipulatorCoordinateSysY uint32 meter false y coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system
3 ManipulatorCoordinateSysZ uint32 meter false z coordinate of origin of manipulator coordinate system measured with respect to vehicle coordinate system
4 DComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
5 AComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
6 BComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system
7 CComponentOfUnitQuaternionQ uint32 one false quaternion q = d + ai +bj + ck defines the orientation of the manipulator coordinate system measured with respect to the vehicle coordinate system

FirstJointParameters

Type: Variant

Index Type
0 RevoluteJoint1OffsetRec
1 PrismaticJoint1AngleRec

RevoluteJoint1OffsetRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Joint1Offset uint16 meter false
3 Joint1MinValue uint32 radian true
4 Joint1MaxValue uint32 radian true
5 Joint1MaxSpeed uint32 radian per second true
6 Joint1MaxTorque uint32 newton meter true
7 OffsetBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the joint offset axis.

PrismaticJoint1AngleRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 Joint1Angle uint16 radian false
3 Joint1MinValue uint32 meter false
4 Joint1MaxValue uint32 meter false
5 Joint1MaxSpeed uint32 meter per second true
6 Joint1MaxForce uint32 newton true
7 JointBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the joints moving axis.

JointSpecificationList

Type: List

Element Type Count Type Min Count Max Count
JointSpecifications uint8 0 255

JointSpecifications

Type: Variant

Index Type
0 RevoluteJointSpecificationRec
1 PrismaticJointSpecificationRec

RevoluteJointSpecificationRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 LinkLength uint16 meter false Link Length
3 TwistAngle uint16 radian false Twist Angle
4 JointOffset uint16 meter false Joint Offset
5 MinValue uint32 radian true
6 MaxValue uint32 radian true
7 MaxSpeed uint32 radian per second true
8 MaxTorque uint32 newton meter true
9 OffsetBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the joint offset axis.
10 LinkLengthBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the link length axis.

PrismaticJointSpecificationRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 PresenceVector uint8
2 LinkLength uint16 meter false Link Length
3 TwistAngle uint16 radian false
4 JointAngle uint16 radian false
5 MinValue uint32 meter false
6 MaxValue uint32 meter false
7 MaxSpeed uint32 meter per second true
8 MaxTorque uint32 newton meter true
9 JointBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the joints moving axis.
10 LinkLengthBoundingCylinderRadius uint16 meter true The radius of an imaginary bounding cylinder whose length lies along the link length axis.

JointNamesList

Type: List

Element Type Count Type Min Count Max Count
JointNameRec uint8 0 255

JointNameRec

Type: Record

Field # Field Name Type Units Optional Interpretation
1 Description false A human-readable string that can be used to label each joint on a user interface