Command payload for a Cartesian linear move (MOVE_LINE, register 0x15).

BB's built-in BB.Message.Actuator.Command.Position holds a single scalar, which cannot express a 6-DOF end-effector pose. This payload carries the full pose and is declared by BB.Ufactory.Actuator.Cartesian via BB.Actuator.command_payloads/1, so it travels through the same gated command pipeline as any built-in command — the robot must be armed, and refusals reach a synchronous caller.

Fields

• x, y, z — target TCP position in millimetres (arm base frame)
• roll, pitch, yaw — target orientation in radians (RPY)
• speed — optional TCP linear speed in mm/s; the actuator's configured default applies when nil
• acceleration — optional TCP linear acceleration in mm/s²; the actuator's configured default applies when nil
• command_id — optional correlation reference for feedback tracking

Examples

alias BB.Message
alias BB.Ufactory.Message.Command.CartesianMove

{:ok, msg} = Message.new(CartesianMove, :tcp,
  x: 300.0, y: 0.0, z: 400.0,
  roll: 3.14159, pitch: 0.0, yaw: 0.0
)

# Deliver synchronously and learn whether it was accepted:
BB.call(MyRobot, :tcp, {:command, msg})