Custom Types

This document lists the pose types used in Lua API. Unlike SDK Custom Types, Lua API poses use Lua tables.

TIP

• Joint pose JointPose is an associative array with specified index keys (radians).
• Cartesian pose CartesianPose is an array with sequential numeric index: position in meters, angles in radians.
• Can be converted to SDK format via sdk_pose and lua_pose.
• See Position and Orientation for detailed explanation.

Pose Types

JointPose

Joint pose (radians), represented as associative array with specified index keys:

Field	Type	Description
j1	[float]	Joint 1 angle (rad)
j2	[float]	Joint 2 angle (rad)
j3	[float]	Joint 3 angle (rad)
j4	[float]	Joint 4 angle (rad)
j5	[float]	Joint 5 angle (rad)
j6	[float]	Joint 6 angle (rad)

{j1=0.024, j2=math.rad(-15), j3=math.pi, j4=math.pi/2, j5=math.rad(30), j6=0}

CartesianPose

Cartesian pose (position in meters, angles in radians), represented as array with sequential numeric index: x, y, z, rz, ry, rx:

Index	Field	Type	Description
1	x	[float]	X coordinate (m)
2	y	[float]	Y coordinate (m)
3	z	[float]	Z coordinate (m)
4	rz	[float]	Rotation around Z axis (rad)
5	ry	[float]	Rotation around Y axis (rad)
6	rx	[float]	Rotation around X axis (rad)

{0.2, 0, 0, math.pi/2, math.rad(30), 0.024}

Pose

Pose parameter: joint pose or Cartesian pose, i.e. [JointPose] | [CartesianPose]

KinResult

Pose with solving result, adding ok field on top of [JointPose] or [CartesianPose]:

Field	Type	Description
ok	[bool]	Whether solving was successful, true: success, false: failure

{j1=0, j2=1.57, j3=-1.57, j4=0, j5=3.14, j6=3.14, ok=true}

Wrench

Force/torque data, represented as associative array with specified index keys:

Field	Type	Description
force_x	[float]	Force along X axis (N)
force_y	[float]	Force along Y axis (N)
force_z	[float]	Force along Z axis (N)
torque_x	[float]	Torque around X axis (N·m)
torque_y	[float]	Torque around Y axis (N·m)
torque_z	[float]	Torque around Z axis (N·m)

{force_x=0, force_y=0, force_z=0, torque_x=0, torque_y=0, torque_z=0}

Object Types

Serial

Serial instance, created by serial.open, providing the following methods:

Method	Description
set_timeout	Set timeout
set_baud_rate	Set baud rate
set_parity	Set parity
write	Send data
read	Receive data

Modbus

Modbus slave instance, created by modbus.new_tcp, modbus.new_rtu or modbus.new_flange, providing the following methods:

Method	Description
set_slave	Set slave ID
disconnect	Disconnect
set_timeout	Set timeout
set_retry	Set timeout retry count
read_coils	Read multiple coils
read_discrete_inputs	Read multiple discrete inputs
read_input_registers	Read multiple input registers
read_holding_registers	Read multiple holding registers
write_single_coil	Write single coil
write_multiple_coils	Write multiple coils
write_single_register	Write single holding register
write_multiple_registers	Write multiple holding registers