Update the tool pose of Almond Bot at a high frequency with your own control policy.

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Parameters

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frequency
float
required

The frequency to update the tool pose. Should be between 63Hz and 1000Hz.

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pose
Pose
required

The tool pose offset to set. Should be very small (less than 0.5mm or 0.5 degree) to avoid overshoot. See Pose for more details.

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tool_stroke
float
default:"None"

The tool stroke to set. Should be between 0 and 100. If not provided, the tool stroke will not be updated.

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tool_force
float
default:"None"

The tool force to set. Should be between 0 and 100. If not provided, the tool force will not be updated.

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Example Usage

for _ in range(100):
  await client.stream_tool_pose(
    frequency=500,
    pose=Pose(z=0.5),
    tool_stroke=50,
    tool_force=10
  )