52 lines
1.1 KiB
Plaintext
52 lines
1.1 KiB
Plaintext
|
std_msgs/Header header
|
||
|
|
float64[6] cartesian_collision
|
||
|
|
float64[6] cartesian_contact
|
||
|
|
float64[7] q
|
||
|
|
float64[7] q_d
|
||
|
|
float64[7] dq
|
||
|
|
float64[7] dq_d
|
||
|
|
float64[7] ddq_d
|
||
|
|
float64[7] theta
|
||
|
|
float64[7] dtheta
|
||
|
|
float64[7] tau_j
|
||
|
|
float64[7] dtau_j
|
||
|
|
float64[7] tau_j_d
|
||
|
|
float64[6] k_f_ext_hat_k
|
||
|
|
float64[2] elbow
|
||
|
|
float64[2] elbow_d
|
||
|
|
float64[2] elbow_c
|
||
|
|
float64[2] delbow_c
|
||
|
|
float64[2] ddelbow_c
|
||
|
|
float64[7] joint_collision
|
||
|
|
float64[7] joint_contact
|
||
|
|
float64[6] o_f_ext_hat_k
|
||
|
|
float64[6] o_dp_ee_d
|
||
|
|
float64[6] o_dp_ee_c
|
||
|
|
float64[6] o_ddp_ee_c
|
||
|
|
float64[7] tau_ext_hat_filtered
|
||
|
|
float64 m_ee
|
||
|
|
float64[3] f_x_cee
|
||
|
|
float64[9] i_ee
|
||
|
|
float64 m_load
|
||
|
|
float64[3] f_x_cload
|
||
|
|
float64[9] i_load
|
||
|
|
float64 m_total
|
||
|
|
float64[3] f_x_ctotal
|
||
|
|
float64[9] i_total
|
||
|
|
float64[16] o_t_ee
|
||
|
|
float64[16] o_t_ee_d
|
||
|
|
float64[16] o_t_ee_c
|
||
|
|
float64[16] f_t_ee
|
||
|
|
float64[16] ee_t_k
|
||
|
|
float64 time
|
||
|
|
float64 control_command_success_rate
|
||
|
|
uint8 ROBOT_MODE_OTHER=0
|
||
|
|
uint8 ROBOT_MODE_IDLE=1
|
||
|
|
uint8 ROBOT_MODE_MOVE=2
|
||
|
|
uint8 ROBOT_MODE_GUIDING=3
|
||
|
|
uint8 ROBOT_MODE_REFLEX=4
|
||
|
|
uint8 ROBOT_MODE_USER_STOPPED=5
|
||
|
|
uint8 ROBOT_MODE_AUTOMATIC_ERROR_RECOVERY=6
|
||
|
|
uint8 robot_mode
|
||
|
|
Errors current_errors
|
||
|
|
Errors last_motion_errors
|