Class FramesService

constructor

• new FramesService(eventTarget: EventTargetOrCommChannel): FramesService

  Parameters

  • eventTarget: EventTargetOrCommChannel

  Returns FramesService

ReadonlyeventTarget

addFrame

• addFrame(name: string, pose: ControllerPose): Promise<void>

  Add a frame with the name 'name' initialized at the specified pose expressed in the refFrame coordinate frame. This command only adds a frame to the world, it does not attach it to the ref_frame coordinate frame. Use attach_frame() to attach the newly added frame to ref_frame if desired.

  Parameters

  • name: string
  • pose: ControllerPose

  Returns Promise<void>

  See

  ScriptBuilder#addFrame

• addFrame(name: string, pose: Pose, refFrame?: string): Promise<void>

  Add a frame with the name 'name' initialized at the specified pose expressed in the refFrame coordinate frame.

  Parameters

  • name: string
  • pose: Pose
  • OptionalrefFrame: string

  Returns Promise<void>

attachFrame

• attachFrame(child: string, parent: string): Promise<void>

  Attaches the child frame to the parent world model object. The relative transform between the parent and child will be set such that the child does not move in the world when the attachment occurs. The child cannot be "world", "tcp", or the same as parent. This will fail if child or parent is not an existing frame, or this makes the attachments form a closed chain.

  Parameters

  • child: string
  • parent: string

  Returns Promise<void>

  See

  ScriptBuilder#attachFrame

deleteFrame

• deleteFrame(name: string): Promise<void>

  Delete the frame named frame from the world model. The "world", "base", and "tcp" frames cannot be deleted. Any frames that are attached to the deleted frame will be attached to the "world" frame with new frame offsets set such that the detached frame does not move in the world. This command will fail if the frame does not exist.

  Parameters

  • name: string

  Returns Promise<void>

  See

  ScriptBuilder#deleteFrame

moveFrame

• moveFrame(name: string, pose: ControllerPose): Promise<void>

  Changes the placement of the coordinate frame named name to the new placement given by pose that is defined in the refFrame coordinate frame. This will fail if name is “world”, "tcp", or if the frame does not exist. Note: to move the "tcp" frame, use the set_tcp() command instead. If being used with the part positioner product, the ref_name argument can be the name of an external axis or axis group.

  Parameters

  • name: string
  • pose: ControllerPose

  Returns Promise<void>

  See

  ScriptBuilder#moveFrame

• moveFrame(name: string, pose: Pose, refFrame?: string): Promise<void>

  Changes the placement of the coordinate frame named name to the new placement given by pose that is defined in the refFrame coordinate frame.

  Parameters

  • name: string
  • pose: Pose
  • OptionalrefFrame: string

  Returns Promise<void>

observeFrames

• observeFrames(): Observable<Frame[]>

  Returns an observable of live frame data.

  Returns Observable<Frame[]>

setFrameOrientation

• setFrameOrientation(
      name: string,
      orientation: ZUpRotationVectorRadians,
  ): Promise<void>

  Changes the orientation of the coordinate frame named name to the new orientation. This will fail if name is “world”, "tcp", or if the frame does not exist. Note: to reorient the "tcp" frame, use the set_tcp() command instead.

  Parameters

  • name: string
  • orientation: ZUpRotationVectorRadians

  Returns Promise<void>

  See

  ScriptBuilder#setFrameOrientation

• setFrameOrientation(
      name: string,
      orientation: [number, number, number],
  ): Promise<void>

  Parameters

  • name: string
  • orientation: [number, number, number]

  Returns Promise<void>

  Deprecated

  Use the overload that accepts zUpRotationVectorRadians directly instead