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Returns the actual (current) robot configuration.
These two solutions represent tow solution of the robots inverse kinematics equations, or in other words the robot configurations. Usually they are called “below” and “above” robot configurations. This flag indicates which of them is taken. Also, when this flag is different from the commanded one (elbowcmd) no straight line motion can be made.
For example in PUMA robot kinematic model this flag is computed according to the sing of position of the second joint.
0 - Keep the current configuration or choose the closest joint-target.
1 - Joint-target is BELOW
2 - Joint-target is ABOVE
0 - Auto
1 - Below
2 - Above
Configuration, Task, Terminal
Read Only, Modal Only