MoveAxisAngle.srv

# request: command specification for axis-angle motion executions.
# Units:
#	Linear: mm, mm/s, and mm/s^2.
#   Angular: radian.
#	time: sec

# pose: target coordinate. 
#	For Cartesian target: pose dimention is 6 for (x, y, z, rx, ry, rz)

float32[] pose

# mvvelo: (value range: 0 ~ 1000) specified maximum velocity during execution. linear (0 to 1000 mm/s)  or angular (range 0~1000 for 0 to 3.14 rad/s) velocity.

float32 mvvelo

# mvacc: specified maximum linear acceleration (mm/s^2) during execution. (angular acceleration is fixed currently).

float32 mvacc

# mvtime: currently do not have any special meaning, please just give it 0. 

float32 mvtime

# coord: motion coordinate system indicator, base (0) or tool(1) coordinate.

int16 coord

# relative: indicator of given target is relative (1) or not (0, absolute)

int16 relative

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# response: 
#	ret is 0 for successful execution and others for errors or warnings occured
#	message is a string returned by function, indicating execution status.

int16 ret

string message