Enum ActionParameters 

pub enum ActionParameters {
    Movement {
        x: f64,
        y: f64,
        z: f64,
        is_velocity: bool,
        frame: Option<String>,
    },
    Rotation {
        roll: Option<f64>,
        pitch: Option<f64>,
        yaw: Option<f64>,
        quaternion: Option<[f64; 4]>,
    },
    Gripper {
        aperture: f64,
        force: Option<f64>,
    },
    JointPositions {
        positions: Vec<f64>,
        joint_names: Vec<String>,
    },
    TargetPose {
        position: [f64; 3],
        orientation: [f64; 4],
    },
    Trajectory {
        waypoints: Vec<Waypoint>,
        interpolation: Option<String>,
    },
    Custom(Value),
}

Parameters for different action types

Variants

Movement

Movement parameters (x, y, z displacement or velocity)

Fields

x: f64

y: f64

z: f64

is_velocity: bool

Whether values are velocities or positions

frame: Option<String>

Coordinate frame (world, robot, end_effector)

Rotation

Rotation parameters (roll, pitch, yaw or quaternion)

Fields

roll: Option<f64>

pitch: Option<f64>

yaw: Option<f64>

quaternion: Option<[f64; 4]>

Gripper

Gripper parameters

Fields

aperture: f64

Aperture (0.0 = closed, 1.0 = fully open)

force: Option<f64>

Force limit

JointPositions

Joint positions

Fields

positions: Vec<f64>

Joint angles in radians

joint_names: Vec<String>

Joint names (if applicable)

TargetPose

Target pose (position + orientation)

Fields

position: [f64; 3]

orientation: [f64; 4]

Quaternion [w, x, y, z]

Trajectory

Trajectory of waypoints

Fields

waypoints: Vec<Waypoint>

interpolation: Option<String>

Interpolation method

Custom(Value)

Custom parameters as JSON

Trait Implementations

impl Clone for ActionParameters

fn clone(&self) -> ActionParameters

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for ActionParameters

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for ActionParameters

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for ActionParameters

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.