#include <robot_config.h>

Public Member Functions
	RobotConfig ()

virtual	~RobotConfig ()

std::string	getName ()
	Get the robot's name.

int	getDof ()
	Get the robot's degrees of freedom (from the hardware abstraction layer).

double	getCycletime ()
	Get the robot's servo control cycle time (from the hardware abstraction layer).

int	setSlowDownFraction (int level, double fraction)
	Set the speed reduction ratio for the preset slow-down mode.

double	getSlowDownFraction (int level)
	Get the speed reduction ratio for the preset slow-down mode.

double	getDefaultToolAcc ()
	Get the default tool acceleration, in m/s^2.

double	getDefaultToolSpeed ()
	Get the default tool speed, in m/s.

double	getDefaultJointAcc ()
	Get the default joint acceleration, in rad/s^2.

double	getDefaultJointSpeed ()
	Get the default joint speed, in rad/s.

std::string	getRobotType ()
	Get the robot type code.

std::string	getRobotSubType ()
	Get the robot sub-type code.

std::string	getControlBoxType ()
	Get the control box type code.

int	setMountingPose (const std::vector< double > &pose)
	Set the mounting pose (robot base coordinate system relative to world coordinate system) world->base

std::vector< double >	getMountingPose ()
	Get the mounting pose (robot base coordinate system relative to world coordinate system)

int	attachRobotBaseTo (const std::string &frame)
	Attach the robot base to a coordinate frame.

std::string	getRobotBaseParent ()

int	setWorkObjectData (const WObjectData &wobj)
	Set work object data.

int	setCollisionLevel (int level)
	Set the collision sensitivity level.

int	getCollisionLevel ()
	Get the collision sensitivity level.

int	setCollisionStopType (int type)
	Set the collision stop type.

int	getCollisionStopType ()
	Get the collision stop type.

int	setHomePosition (const std::vector< double > &positions)
	Set the robot's home position.

std::vector< double >	getHomePosition ()
	Get the robot's home position.

int	setFreedriveDamp (const std::vector< double > &damp)
	Set freedrive damping.

std::vector< double >	getFreedriveDamp ()
	Get freedrive damping.

int	setHandguidDamp (const std::vector< double > &damp)
	Set handguiding damping.

std::vector< double >	getHandguidDamp ()
	Get handguiding damping.

std::unordered_map< std::string, std::vector< double > >	getKinematicsParam (bool real)
	Get the robot's DH parameters: alpha, a, d, theta, beta.

std::unordered_map< std::string, std::vector< double > >	getKinematicsCompensate (double ref_temperature)
	Get DH parameter compensation values (alpha, a, d, theta, beta) at the specified temperature.

int	setKinematicsCompensate (const std::unordered_map< std::string, std::vector< double > > &param)
	Set standard DH compensation to the robot.

int	setPersistentParameters (const std::string &param)
	Set parameters to be saved to the interface board base.

int	setHardwareCustomParameters (const std::string &param)
	Set custom parameters for the hardware abstraction layer.

std::string	getHardwareCustomParameters (const std::string &param)
	Get custom parameters from the hardware abstraction layer.

int	setRobotZero ()
	Set the robot joint zero position.

std::vector< std::string >	getTcpForceSensorNames ()
	Get the names of available TCP force sensors.

int	selectTcpForceSensor (const std::string &name)
	Set the TCP force sensor.

int	setTcpForceSensorPose (const std::vector< double > &sensor_pose)
	Set the sensor mounting pose.

std::vector< double >	getTcpForceSensorPose ()
	Get the sensor mounting pose.

bool	hasTcpForceSensor ()
	Whether a TCP force sensor is installed.

int	setTcpForceOffset (const std::vector< double > &force_offset)
	Set the TCP force/torque offset.

std::vector< double >	getTcpForceOffset ()
	Get the TCP force/torque offset.

std::vector< std::string >	getBaseForceSensorNames ()
	Get the names of available base force sensors.

int	selectBaseForceSensor (const std::string &name)
	Set the base force sensor.

bool	hasBaseForceSensor ()
	Whether a base force sensor is installed.

int	setBaseForceOffset (const std::vector< double > &force_offset)
	Set the base force/torque offset.

std::vector< double >	getBaseForceOffset ()
	Get the base force/torque offset.

uint32_t	getSafetyParametersCheckSum ()
	Get the safety parameter checksum CRC32.

int	confirmSafetyParameters (const RobotSafetyParameterRange &parameters)
	Initiate a request to confirm safety configuration parameters: Write safety configuration parameters to the safety interface board flash or file.

uint32_t	calcSafetyParametersCheckSum (const RobotSafetyParameterRange &parameters)
	Calculate the CRC32 checksum of safety parameters.

std::vector< double >	getJointMaxPositions ()
	Get the joint maximum positions (physical limits).

std::vector< double >	getJointMinPositions ()
	Get the joint minimum positions (physical limits).

std::vector< double >	getJointMaxSpeeds ()
	Get the joint maximum speeds (physical limits).

std::vector< double >	getJointMaxAccelerations ()
	Get the joint maximum accelerations (physical limits).

std::vector< double >	getTcpMaxSpeeds ()
	Get the TCP maximum speed (physical limits).

std::vector< double >	getTcpMaxAccelerations ()
	Get the TCP maximum acceleration (physical limits).

int	setGravity (const std::vector< double > &gravity)
	Set the robot installation attitude (gravity vector).

std::vector< double >	getGravity ()
	Get the robot's installation attitude (gravity vector).

int	setTcpOffset (const std::vector< double > &offset)
	Set the current TCP offset.

std::vector< double >	getTcpOffset ()
	Get the current TCP offset.

int	setToolInertial (double m, const std::vector< double > &com, const std::vector< double > &inertial)
	Set tool mass, center of mass, and inertia.

int	setPayload (double m, const std::vector< double > &cog, const std::vector< double > &aom, const std::vector< double > &inertia)
	Set the payload.

Payload	getPayload ()
	Get the payload.

bool	toolSpaceInRange (const std::vector< double > &pose)
	Whether the end-effector pose is within the safety range.

int	firmwareUpdate (const std::string &fw)
	Initiate a firmware upgrade request.

std::tuple< std::string, double >	getFirmwareUpdateProcess ()
	Get the current firmware upgrade process.

std::vector< double >	getLimitJointMaxPositions ()
	Get the joint maximum positions (currently used limit values).

std::vector< double >	getLimitJointMinPositions ()
	Get the joint minimum positions (currently used limit values).

std::vector< double >	getLimitJointMaxSpeeds ()
	Get the joint maximum speeds (currently used limit values).

std::vector< double >	getLimitJointMaxAccelerations ()
	Get the joint maximum accelerations (currently used limit values).

double	getLimitTcpMaxSpeed ()
	Get the TCP maximum speed (currently used limit value).

SafeguedStopType	getSafeguardStopType ()
	Get the current safeguard stop type.

int	getSafeguardStopSource ()
	Get the complete safeguard stop source as a bitmask.

int	getRobotEmergencyStopSource ()
	Get the complete robot emergency stop source as a bitmask.

std::string	getSelectedTcpForceSensorName ()
	Get the name of the selected TCP force sensor.

int	attachWeldingGun (double m, const std::vector< double > &cog, const std::vector< double > &inertia)

int	setCollisionThreshold (const std::vector< double > &threshold)
	Enable optimized collision force.

std::vector< double >	getCollisionThreshold ()
	Get collision threshold.

Protected Attributes
void *	d_

Detailed Description

Definition at line 16 of file robot_config.h.

Constructor & Destructor Documentation

◆ RobotConfig()

arcs::common_interface::RobotConfig::RobotConfig ( )

◆ ~RobotConfig()

virtual arcs::common_interface::RobotConfig::~RobotConfig ( )

virtual

Member Function Documentation

◆ attachRobotBaseTo()

int arcs::common_interface::RobotConfig::attachRobotBaseTo ( const std::string & frame )

Attach the robot base to a coordinate frame.

If this frame moves, the robot will move accordingly. Used for applications like ground rails or gantries. When this function is called, the relationship between the frame and ROBOTBASE is fixed.

◆ attachWeldingGun()

int arcs::common_interface::RobotConfig::attachWeldingGun	(	double	m,
		const std::vector< double > &	cog,
		const std::vector< double > &	inertia
	)

◆ calcSafetyParametersCheckSum()

uint32_t arcs::common_interface::RobotConfig::calcSafetyParametersCheckSum ( const RobotSafetyParameterRange & parameters )

Calculate the CRC32 checksum of safety parameters.

Returns: crc32

Exceptions

arcs::common_interface::AuboException

◆ confirmSafetyParameters()

int arcs::common_interface::RobotConfig::confirmSafetyParameters ( const RobotSafetyParameterRange & parameters )

Initiate a request to confirm safety configuration parameters: Write safety configuration parameters to the safety interface board flash or file.

Parameters

parameters Safety configuration parameters.

Returns: Returns 0 on success; error code on failure. AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: confirmSafetyParameters(self: pyaubo_sdk.RobotConfig, arg0: arcs::common_interface::RobotSafetyParameterRange) -> int

Lua function prototype

◆ firmwareUpdate()

int arcs::common_interface::RobotConfig::firmwareUpdate ( const std::string & fw )

Initiate a firmware upgrade request.

The controller software will enter firmware upgrade mode.

Parameters

fw Firmware upgrade path. The format is: firmware package path#upgrade node list. The firmware package path and node list are separated by a hash (#), and nodes are separated by commas (,). If a node name ends with !, it means to force upgrade (without version check) that node; otherwise, the node will be upgraded only if the current version differs from the target version. You can flexibly specify which nodes to upgrade as needed. For example, /tmp/firmware_update-1.0.42-rc.5+2347b0d.firm#master_mcu!,slace_mcu!,base!,tool!,joint1!,joint2!,joint3!,joint4!,joint5!,joint6! means to force upgrade the interface board main, interface board slave, base, tool, and joints 1-6. "all" means all nodes, e.g. /tmp/firm_XXX.firm::all means upgrade all nodes with version check, /tmp/firm_XXX.firm::all! means force upgrade all nodes.

Returns: Returns 0 if the command is sent successfully; otherwise, returns an error code. -AUBO_BAD_STATE: The current state of the RuntimeMachine is not Stopped, so the firmware upgrade request is rejected. AUBO_BAD_STATE = 1. -AUBO_TIMEOUT: Timeout. AUBO_TIMEOUT = 4.

Exceptions

arcs::common_interface::AuboException

Python function prototype: firmwareUpdate(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua function prototype: firmwareUpdate(fw: string) -> nil

Lua example: firmwareUpdate("/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu")

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.firmwareUpdate","params":["/tmp/firmware_update-1.0.42-rc.12+3e33eac.firm#master_mcu"],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getBaseForceOffset()

std::vector< double > arcs::common_interface::RobotConfig::getBaseForceOffset ( )

Get the base force/torque offset.

Returns: Returns the base force/torque offset.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getBaseForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getBaseForceOffset() -> table

Lua example: BaseForceOffset = getBaseForceOffset()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceOffset","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[]}

◆ getBaseForceSensorNames()

std::vector< std::string > arcs::common_interface::RobotConfig::getBaseForceSensorNames ( )

Get the names of available base force sensors.

Returns: Returns the names of available base force sensors.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getBaseForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str]

Lua function prototype: getBaseForceSensorNames() -> table

Lua example: BaseForceSensorNames = getBaseForceSensorNames()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getBaseForceSensorNames","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[]}

◆ getCollisionLevel()

int arcs::common_interface::RobotConfig::getCollisionLevel ( )

Get the collision sensitivity level.

Returns: Collision sensitivity level.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getCollisionLevel(self: pyaubo_sdk.RobotConfig) -> int

Lua function prototype: getCollisionLevel() -> number

Lua example: CollisionLevel = getCollisionLevel()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionLevel","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6}

◆ getCollisionStopType()

int arcs::common_interface::RobotConfig::getCollisionStopType ( )

Get the collision stop type.

Returns: The collision stop type.
0: Floating after collision, i.e., enters freedrive mode after collision
1: Stop after collision
2: Brake after collision

Exceptions

arcs::common_interface::AuboException

Python function prototype: getCollisionStopType(self: pyaubo_sdk.RobotConfig) -> int

Lua function prototype: getCollisionStopType() -> number

Lua example: CollisionStopType = getCollisionStopType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionStopType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1}

◆ getCollisionThreshold()

std::vector< double > arcs::common_interface::RobotConfig::getCollisionThreshold ( )

Get collision threshold.

Returns: collision threshold.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getCollisionThreshold(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getCollisionThreshold() -> table

Lua example: CollisionThreshold = getCollisionThreshold()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCollisionThreshold","params":[[99.0, 114.0, 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"None"}

◆ getControlBoxType()

std::string arcs::common_interface::RobotConfig::getControlBoxType ( )

Get the control box type code.

Returns: The control box type code.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getControlBoxType(self: pyaubo_sdk.RobotConfig) -> str

Lua function prototype: getControlBoxType() -> string

Lua example: ControlBoxType = getControlBoxType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getControlBoxType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"cb_ISStation"}

◆ getCycletime()

double arcs::common_interface::RobotConfig::getCycletime ( )

Get the robot's servo control cycle time (from the hardware abstraction layer).

Returns: The robot's servo control cycle time.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getCycletime(self: pyaubo_sdk.RobotConfig) -> float

Lua function prototype: getCycletime() -> number

Lua example: robot_Cycletime = getCycletime()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getCycletime","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.005}

◆ getDefaultJointAcc()

double arcs::common_interface::RobotConfig::getDefaultJointAcc ( )

Get the default joint acceleration, in rad/s^2.

Returns: The default joint acceleration.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getDefaultJointAcc(self: pyaubo_sdk.RobotConfig) -> float

Lua function prototype: getDefaultJointAcc() -> number

Lua example: DefaultJointAcc = getDefaultJointAcc()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointAcc","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDefaultJointSpeed()

double arcs::common_interface::RobotConfig::getDefaultJointSpeed ( )

Get the default joint speed, in rad/s.

Returns: The default joint speed.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getDefaultJointSpeed(self: pyaubo_sdk.RobotConfig) -> float

Lua function prototype: getDefaultJointSpeed() -> number

Lua example: DefaultJointSpeed = getDefaultJointSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultJointSpeed","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDefaultToolAcc()

double arcs::common_interface::RobotConfig::getDefaultToolAcc ( )

Get the default tool acceleration, in m/s^2.

Returns: The default tool acceleration.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getDefaultToolAcc(self: pyaubo_sdk.RobotConfig) -> float

Lua function prototype: getDefaultToolAcc() -> number

Lua example: DefaultToolAcc = getDefaultToolAcc()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolAcc","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDefaultToolSpeed()

double arcs::common_interface::RobotConfig::getDefaultToolSpeed ( )

Get the default tool speed, in m/s.

Returns: The default tool speed.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getDefaultToolSpeed(self: pyaubo_sdk.RobotConfig) -> float

Lua function prototype: getDefaultToolSpeed() -> number

Lua example: DefaultToolSpeed = getDefaultToolSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDefaultToolSpeed","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.0}

◆ getDof()

int arcs::common_interface::RobotConfig::getDof ( )

Get the robot's degrees of freedom (from the hardware abstraction layer).

Returns: The robot's degrees of freedom.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getDof(self: pyaubo_sdk.RobotConfig) -> int

Lua function prototype: getDof() -> number

Lua example: robot_dof = getDof()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getDof","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6}

◆ getFirmwareUpdateProcess()

std::tuple< std::string, double > arcs::common_interface::RobotConfig::getFirmwareUpdateProcess ( )

Get the current firmware upgrade process.

Returns: The current firmware upgrade process.
The first element is the step name. If it is "failed", the firmware upgrade failed.
The second element is the upgrade progress (0~1). When finished, returns ("", 1)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getFirmwareUpdateProcess(self: pyaubo_sdk.RobotConfig) -> Tuple[str, float]

Lua function prototype: getFirmwareUpdateProcess() -> table

Lua example: step,progress = getFirmwareUpdateProcess()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFirmwareUpdateProcess","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[" ",0.0]}

◆ getFreedriveDamp()

std::vector< double > arcs::common_interface::RobotConfig::getFreedriveDamp ( )

Get freedrive damping.

Returns: Freedrive damping values.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getFreedriveDamp(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getFreedriveDamp() -> table

Lua example: FreedriveDamp = getFreedriveDamp()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getFreedriveDamp","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]}

◆ getGravity()

std::vector< double > arcs::common_interface::RobotConfig::getGravity ( )

Get the robot's installation attitude (gravity vector).

If the robot base is equipped with an attitude sensor, data is read from the sensor; otherwise, the user setting is used.

Returns: Returns the installation attitude.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getGravity(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getGravity() -> table

Lua example: Gravity = getGravity()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getGravity","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,-9.87654321]}

◆ getHandguidDamp()

std::vector< double > arcs::common_interface::RobotConfig::getHandguidDamp ( )

Get handguiding damping.

Returns: handguuiding damping

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandguidDamp(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua fuunction prototype: getHandguidDamp() -> table

Lua example: HandguidDamp = getHandguidDamp()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHandguidDamp","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.5,0.5,0.5,0.5,0.5,0.5]}

◆ getHardwareCustomParameters()

std::string arcs::common_interface::RobotConfig::getHardwareCustomParameters ( const std::string & param )

Get custom parameters from the hardware abstraction layer.

Parameters

return Returns custom parameters from the hardware abstraction layer.

Exceptions

arcs::common_interface::AuboException

◆ getHomePosition()

std::vector< double > arcs::common_interface::RobotConfig::getHomePosition ( )

Get the robot's home position.

Returns

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getHomePosition","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]}

◆ getJointMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxAccelerations ( )

Get the joint maximum accelerations (physical limits).

Returns: Returns the joint maximum accelerations.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getJointMaxAccelerations() -> table

Lua example: JointMaxAccelerations = getJointMaxAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxAccelerations","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]}

◆ getJointMaxPositions()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxPositions ( )

Get the joint maximum positions (physical limits).

Returns: Returns the joint maximum positions.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getJointMaxPositions() -> table

Lua example: JointMaxPositions = getJointMaxPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586,6.283185307179586]}

◆ getJointMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getJointMaxSpeeds ( )

Get the joint maximum speeds (physical limits).

Returns: Returns the joint maximum speeds.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getJointMaxSpeeds() -> table

Lua example: JointMaxSpeeds = getJointMaxSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMaxSpeeds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[3.892084231947355,3.892084231947355,3.892084231947355,3.1066860685499065,3.1066860685499065,3.1066860685499065]}

◆ getJointMinPositions()

std::vector< double > arcs::common_interface::RobotConfig::getJointMinPositions ( )

Get the joint minimum positions (physical limits).

Returns: Returns the joint minimum positions.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getJointMinPositions() -> table

Lua example: JointMinPositions = getJointMinPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getJointMinPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586,-6.283185307179586]}

◆ getKinematicsCompensate()

std::unordered_map< std::string, std::vector< double > > arcs::common_interface::RobotConfig::getKinematicsCompensate ( double ref_temperature )

Get DH parameter compensation values (alpha, a, d, theta, beta) at the specified temperature.

Parameters

ref_temperature Reference temperature in ℃, default is 20℃

Returns: Returns DH parameter compensation values.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getKinematicsCompensate(self: pyaubo_sdk.RobotConfig, arg0: float) -> Dict[str, List[float]]

Lua function prototype: getKinematicsCompensate(ref_temperature: number) -> table

Lua example: KinematicsCompensate = getKinematicsCompensate(20)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsCompensate","params":[20],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.0006348000024445355,-0.0002398000069661066,-0.00018950000230688602,3.7000001611886546e-05], "alpha":[0.0,0.000678930024150759,0.002438219962641597,0.0049148499965667725,0.00048695001169107854,0.004321440123021603], "beta":[0.0,0.0,0.0,0.0,0.0,0.0],"d":[0.0,4.769999941345304e-05,-4.769999941345304e-05,4.769999941345304e-05,0.0003789000038523227,0.0], "theta":[0.0,0.0,0.0,0.0,0.0,0.0]}}

◆ getKinematicsParam()

std::unordered_map< std::string, std::vector< double > > arcs::common_interface::RobotConfig::getKinematicsParam ( bool real )

Get the robot's DH parameters: alpha, a, d, theta, beta.

Parameters

real	Read real parameters (theoretical + compensation) or theoretical parameters.

Returns: Returns the robot's DH parameters.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getKinematicsParam(self: pyaubo_sdk.RobotConfig, arg0: bool) -> Dict[str, List[float]]

Lua function prototype: getKinematicsParam(real: boolean) -> table

Lua example: KinematicsParam = getKinematicsParam(true)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getKinematicsParam","params":[true],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":{"a":[0.0,-0.0001255999959539622,0.4086348000024445,0.3757601999930339,-0.00018950000230688602,3.7000001611886546e-05], "alpha":[0.0,-1.5701173967707458,3.1440308735524347,3.14650750358636,-1.5703093767832055,1.5751177669179182],"beta":[0.0,0.0,0.0,0.0,0.0,0.0], "d":[0.122,0.12154769999941345,-4.769999941345304e-05,4.769999941345304e-05,0.10287890000385232,0.116], "theta":[3.141592653589793,-1.5707963267948966,0.0,-1.5707963267948966,0.0,0.0]}}

◆ getLimitJointMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxAccelerations ( )

Get the joint maximum accelerations (currently used limit values).

Returns: Returns the joint maximum accelerations (currently used limit values).

Exceptions

arcs::common_interface::AuboException

Python function prototype: getLimitJointMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getLimitJointMaxAccelerations() -> table

Lua example: LimitJointMaxAccelerations = getLimitJointMaxAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxAccelerations","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[31.104877758314785,31.104877758314785,31.104877758314785,20.73625684294463,20.73625684294463,20.73625684294463]}

◆ getLimitJointMaxPositions()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxPositions ( )

Get the joint maximum positions (currently used limit values).

Returns: Returns the joint maximum positions (currently used limit values).

Exceptions

arcs::common_interface::AuboException

Python function prototype: getLimitJointMaxPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getLimitJointMaxPositions() -> table

Lua example: LimitJointMaxPositions = getLimitJointMaxPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465,6.2831854820251465]}

◆ getLimitJointMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMaxSpeeds ( )

Get the joint maximum speeds (currently used limit values).

Returns: Returns the joint maximum speeds (currently used limit values).

Exceptions

arcs::common_interface::AuboException

Python function prototype: getLimitJointMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getLimitJointMaxSpeeds() -> table

Lua example: LimitJointMaxSpeeds = getLimitJointMaxSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMaxSpeeds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[3.8920841217041016,3.8920841217041016,3.8920841217041016,3.1066861152648926,3.1066861152648926,3.1066861152648926]}

◆ getLimitJointMinPositions()

std::vector< double > arcs::common_interface::RobotConfig::getLimitJointMinPositions ( )

Get the joint minimum positions (currently used limit values).

Returns: Returns the joint minimum positions (currently used limit values).

Exceptions

arcs::common_interface::AuboException

Python function prototype: getLimitJointMinPositions(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getLimitJointMinPositions() -> table

Lua example: LimitJointMinPositions = getLimitJointMinPositions()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitJointMinPositions","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465,-6.2831854820251465]}

◆ getLimitTcpMaxSpeed()

double arcs::common_interface::RobotConfig::getLimitTcpMaxSpeed ( )

Get the TCP maximum speed (currently used limit value).

Returns: Returns the TCP maximum speed (currently used limit value).

Exceptions

arcs::common_interface::AuboException

Python function prototype: getLimitTcpMaxSpeed(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getLimitTcpMaxSpeed() -> number

Lua example: LimitTcpMaxSpeed = getLimitTcpMaxSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getLimitTcpMaxSpeed","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":2.0}

◆ getMountingPose()

std::vector< double > arcs::common_interface::RobotConfig::getMountingPose ( )

Get the mounting pose (robot base coordinate system relative to world coordinate system)

Returns: Mounting pose

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMountingPose(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getMountingPose() -> table

Lua example: MountingPose = getMountingPose()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getMountingPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getName()

std::string arcs::common_interface::RobotConfig::getName ( )

Get the robot's name.

Returns: The robot's name.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getName(self: pyaubo_sdk.RobotConfig) -> str

Lua function prototype: getName() -> string

Lua example: robot_name = getName()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getName","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"rob1"}

◆ getPayload()

Payload arcs::common_interface::RobotConfig::getPayload ( )

Get the payload.

Returns: The payload. The first element is the mass in kg; The second element is the center of gravity in meters, format (CoGx, CoGy, CoGz); The third element is the axis of moment in radians, format (rx, ry, rz); The fourth element is the inertia in kg*m^2, format (Ixx, Iyy, Izz, Ixy, Ixz, Iyz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPayload(self: pyaubo_sdk.RobotConfig) -> Tuple[float, List[float], List[float], List[float]]

Lua function prototype: getPayload() -> number, table, table, table

Lua example: m, cog, aom, inertia = getPayload()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getPayload","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[3.0,[0.0,0.0,0.0],[0.0,0.0,0.0],[0.0,0.0,0.0,0.0,0.0,0.0]]}

◆ getRobotBaseParent()

std::string arcs::common_interface::RobotConfig::getRobotBaseParent ( )

◆ getRobotEmergencyStopSource()

int arcs::common_interface::RobotConfig::getRobotEmergencyStopSource ( )

Get the complete robot emergency stop source as a bitmask.

Returns: Returns all robot emergency stop sources.

Reasons for emergency stop: Emergency stop triggered by control box button - 1<<0 Emergency stop triggered by teach pendant button - 1<<1 Emergency stop triggered by handle button - 1<<2 Emergency stop triggered by fixed IO - 1<<3

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotEmergencyStopSource","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getRobotSubType()

std::string arcs::common_interface::RobotConfig::getRobotSubType ( )

Get the robot sub-type code.

Returns: The robot sub-type code.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotSubType(self: pyaubo_sdk.RobotConfig) -> str

Lua function prototype: getRobotSubType() -> string

Lua example: RobotSubType = getRobotSubType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotSubType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"B0"}

◆ getRobotType()

std::string arcs::common_interface::RobotConfig::getRobotType ( )

Get the robot type code.

Returns: The robot type code.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotType(self: pyaubo_sdk.RobotConfig) -> str

Lua function prototype: getRobotType() -> string

Lua example: RobotType = getRobotType()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getRobotType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"aubo_i5H"}

◆ getSafeguardStopSource()

int arcs::common_interface::RobotConfig::getSafeguardStopSource ( )

Get the complete safeguard stop source as a bitmask.

Returns: Returns all safeguard stop sources.

Reasons for safeguard stop: Safeguard stop triggered by configurable safety IO in manual mode - 1<<0 Safeguard stop triggered by configurable safety IO in automatic mode - 1<<1 Safeguard stop triggered by control box SI input - 1<<2 Safeguard stop triggered by teach pendant three-position switch - 1<<3 Safeguard stop triggered by switching from auto to manual - 1<<4

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopSource","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ getSafeguardStopType()

SafeguedStopType arcs::common_interface::RobotConfig::getSafeguardStopType ( )

Get the current safeguard stop type.

Returns: Returns the current safeguard stop type.

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafeguardStopType","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"None"}

◆ getSafetyParametersCheckSum()

uint32_t arcs::common_interface::RobotConfig::getSafetyParametersCheckSum ( )

Get the safety parameter checksum CRC32.

Returns: Returns the safety parameter checksum.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSafetyParametersCheckSum(self: pyaubo_sdk.RobotConfig) -> int

Lua function prototype: getSafetyParametersCheckSum() -> number

Lua示例: SafetyParametersCheckSum = getSafetyParametersCheckSum()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSafetyParametersCheckSum","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":2033397241}

◆ getSelectedTcpForceSensorName()

std::string arcs::common_interface::RobotConfig::getSelectedTcpForceSensorName ( )

Get the name of the selected TCP force sensor.

Returns: The name of the currently selected TCP force sensor.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSelectedTcpForceSensorName(self: pyaubo_sdk.RobotConfig) -> str

Lua function prototype: getSelectedTcpForceSensorName() -> str

Lua example: TcpForceSensorName = getSelectedTcpForceSensorName()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSelectedTcpForceSensorName","params":[],"id":1}

◆ getSlowDownFraction()

double arcs::common_interface::RobotConfig::getSlowDownFraction ( int level )

Get the speed reduction ratio for the preset slow-down mode.

Parameters

level Slow-down level 1, 2

Returns: The speed reduction ratio for the preset slow-down mode.

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getSlowDownFraction","params":[1],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.5}

◆ getTcpForceOffset()

std::vector< double > arcs::common_interface::RobotConfig::getTcpForceOffset ( )

Get the TCP force/torque offset.

Returns: Returns the TCP force/torque offset.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpForceOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getTcpForceOffset() -> table

Lua example: TcpForceOffset = getTcpForceOffset()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceOffset","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpForceSensorNames()

std::vector< std::string > arcs::common_interface::RobotConfig::getTcpForceSensorNames ( )

Get the names of available TCP force sensors.

Returns: Returns the names of available TCP force sensors.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpForceSensorNames(self: pyaubo_sdk.RobotConfig) -> List[str]

Lua function prototype: getTcpForceSensorNames() -> table

Lua example: TcpForceSensorNames = getTcpForceSensorNames()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorNames","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[]}

◆ getTcpForceSensorPose()

std::vector< double > arcs::common_interface::RobotConfig::getTcpForceSensorPose ( )

Get the sensor mounting pose.

Returns: Sensor mounting pose.

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpForceSensorPose","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getTcpMaxAccelerations()

std::vector< double > arcs::common_interface::RobotConfig::getTcpMaxAccelerations ( )

Get the TCP maximum acceleration (physical limits).

Returns: Returns the TCP maximum acceleration.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpMaxAccelerations(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getTcpMaxAccelerations() -> table

Lua example: TcpMaxAccelerations = getTcpMaxAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxAccelerations","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[10.0,10.0]}

◆ getTcpMaxSpeeds()

std::vector< double > arcs::common_interface::RobotConfig::getTcpMaxSpeeds ( )

Get the TCP maximum speed (physical limits).

Returns: Returns the TCP maximum speed.

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpMaxSpeeds(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getTcpMaxSpeeds() -> table

Lua example: TcpMaxSpeeds = getTcpMaxSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpMaxSpeeds","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[2.0,5.0]}

◆ getTcpOffset()

std::vector< double > arcs::common_interface::RobotConfig::getTcpOffset ( )

Get the current TCP offset.

The TCP offset is represented as (x, y, z, rx, ry, rz). x, y, z are the position offsets of the Tool Center Point (TCP) relative to the flange center in the base coordinate system, in meters. rx, ry, rz are the orientation offsets of the TCP relative to the flange center in the base coordinate system, as ZYX Euler angles in radians.

Returns: The current TCP offset, in the form (x, y, z, rx, ry, rz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpOffset(self: pyaubo_sdk.RobotConfig) -> List[float]

Lua function prototype: getTcpOffset() -> table

Lua example: TcpOffset = getTcpOffset()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.getTcpOffset","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ hasBaseForceSensor()

bool arcs::common_interface::RobotConfig::hasBaseForceSensor ( )

Whether a base force sensor is installed.

Returns: Returns true if installed; false otherwise.

Exceptions

arcs::common_interface::AuboException

Python function prototype: hasBaseForceSensor(self: pyaubo_sdk.RobotConfig) -> bool

Lua function prototype: hasBaseForceSensor() -> boolean

Lua example: hasBaseForceSensor = hasBaseForceSensor()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasBaseForceSensor","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":false}

◆ hasTcpForceSensor()

bool arcs::common_interface::RobotConfig::hasTcpForceSensor ( )

Whether a TCP force sensor is installed.

Returns: Returns true if installed; false otherwise.

Exceptions

arcs::common_interface::AuboException

Python function prototype: hasTcpForceSensor(self: pyaubo_sdk.RobotConfig) -> bool

Lua function prototype: hasTcpForceSensor() -> boolean

Lua example: hasTcpForceSensor = hasTcpForceSensor()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.hasTcpForceSensor","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

◆ selectBaseForceSensor()

int arcs::common_interface::RobotConfig::selectBaseForceSensor ( const std::string & name )

Set the base force sensor.

If there is a built-in base force sensor, the built-in sensor will be used by default.

Parameters

name	Name of the base force sensor.

Returns: Returns 0 on success; error code on failure. AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: selectBaseForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua function prototype: selectBaseForceSensor(name: string) -> nil

◆ selectTcpForceSensor()

int arcs::common_interface::RobotConfig::selectTcpForceSensor ( const std::string & name )

Set the TCP force sensor.

If there is a built-in TCP force sensor, the built-in sensor will be used by default.

Parameters

name	Name of the TCP force sensor.

Returns: Returns 0 on success; error code on failure. AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: selectTcpForceSensor(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua function prototype: selectTcpForceSensor(name: string) -> nil

◆ setBaseForceOffset()

int arcs::common_interface::RobotConfig::setBaseForceOffset ( const std::vector< double > & force_offset )

Set the base force/torque offset.

Parameters

force_offset Base force/torque offset

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setBaseForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setBaseForceOffset(force_offset: table) -> nil

Lua示例: setBaseForceOffset({0.0,0.0,0.0,0.0,0.0,0.0})

◆ setCollisionLevel()

int arcs::common_interface::RobotConfig::setCollisionLevel ( int level )

Set the collision sensitivity level.

The higher the value, the more sensitive.

Parameters

level Collision sensitivity level 0: Disable collision detection 1~9: Collision sensitivity levels

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setCollisionLevel(self: pyaubo_sdk.RobotConfig, arg0: int) -> int

Lua function prototype: setCollisionLevel(level: number) -> nil

Lua example: setCollisionLevel(6)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionLevel","params":[6],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setCollisionStopType()

int arcs::common_interface::RobotConfig::setCollisionStopType ( int type )

Set the collision stop type.

Parameters

type	Type 0: Floating after collision, i.e., enters freedrive mode after collision 1: Stop after collision 2: Brake after collision

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setCollisionStopType(self: pyaubo_sdk.RobotConfig, arg0: int) -> int

Lua function prototype: setCollisionStopType(type: number) -> nil

Lua example: setCollisionStopType(1)

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionStopType","params":[1],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setCollisionThreshold()

int arcs::common_interface::RobotConfig::setCollisionThreshold ( const std::vector< double > & threshold )

Enable optimized collision force.

Parameters

threshold

Returns: Returns 0 on success; error code on failure.

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setCollisionThreshold","params":[[99.0, 114.0, 103.0, 56.0, 51.0, 60.0,54.6111111, 66.22222222, 59.66666667, 28.94444444, 27.05555556, 30.11111111,19.1, 28.0, 25.0, 7.3, 7.9, 6.2]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"None"}

◆ setFreedriveDamp()

int arcs::common_interface::RobotConfig::setFreedriveDamp ( const std::vector< double > & damp )

Set freedrive damping.

Parameters

damp	Damping values.

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setFreedriveDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setFreedriveDamp(damp: table) -> nil

Lua example: setFreedriveDamp({0.5,0.5,0.5,0.5,0.5,0.5})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setFreedriveDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setGravity()

int arcs::common_interface::RobotConfig::setGravity ( const std::vector< double > & gravity )

Set the robot installation attitude (gravity vector).

Parameters

gravity Installation attitude (gravity vector)

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setGravity(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setGravity(gravity: table) -> nil

Lua example: setGravity({0.0,0.0,-9.87654321})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setGravity","params":[[0.0,0.0,-9.87654321]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setHandguidDamp()

int arcs::common_interface::RobotConfig::setHandguidDamp ( const std::vector< double > & damp )

Set handguiding damping.

Parameters

damp	damping coef.

Returns: return 0 for success；return rror code for failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setHandguidDamp(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setHandguidDamp(damp: table) -> number

Lua example: setHandguidDamp({0.5,0.5,0.5,0.5,0.5,0.5})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHandguidDamp","params":[[0.5,0.5,0.5,0.5,0.5,0.5]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setHardwareCustomParameters()

int arcs::common_interface::RobotConfig::setHardwareCustomParameters ( const std::string & param )

Set custom parameters for the hardware abstraction layer.

The purpose is to ensure compatibility between different hardware.

Parameters

param Custom parameters.

Returns: Returns 0 on success; error code on failure. AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

◆ setHomePosition()

int arcs::common_interface::RobotConfig::setHomePosition ( const std::vector< double > & positions )

Set the robot's home position.

Parameters

positions Joint angles

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setHomePosition","params":[[0.0,-0.2617993877991494,1.74532925199433,0.4363323129985824,1.570796326794897,0.0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setKinematicsCompensate()

int arcs::common_interface::RobotConfig::setKinematicsCompensate ( const std::unordered_map< std::string, std::vector< double > > & param )

Set standard DH compensation to the robot.

Parameters

param

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

◆ setMountingPose()

int arcs::common_interface::RobotConfig::setMountingPose ( const std::vector< double > & pose )

Set the mounting pose (robot base coordinate system relative to world coordinate system) world->base

Typically used in multi-robot systems, default is [0,0,0,0,0,0]

Parameters

pose	Mounting pose

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setMountingPose(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setMountingPose(pose: table) -> nil

Lua example: setMountingPose({0.0,0.0,0.0,0.0,0.0,0.0})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setMountingPose","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setPayload()

int arcs::common_interface::RobotConfig::setPayload	(	double	m,
		const std::vector< double > &	cog,
		const std::vector< double > &	aom,
		const std::vector< double > &	inertia
	)

Set the payload.

Parameters

m	Mass, unit: kg
cog	Center of gravity, unit: m, format (CoGx, CoGy, CoGz)
aom	Axis of moment, unit: rad, format (rx, ry, rz)
inertia	Inertia, unit: kg*m^2, format (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) or (Ixx, Ixy, Ixz, Iyx, Iyy, Iyz, Izx, Izy, Izz)

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setPayload(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], arg2: List[float], arg3: List[float]) -> int

Lua function prototype: setPayload(m: number, cog: table, aom: table, inertia: table) -> nil

Lua example: setPayload(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setPayload","params":[3,[0,0,0],[0,0,0],[0,0,0,0,0,0,0,0,0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setPersistentParameters()

int arcs::common_interface::RobotConfig::setPersistentParameters ( const std::string & param )

Set parameters to be saved to the interface board base.

Parameters

param Compensation data.

Returns: Returns 0 on success; error code on failure. AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setPersistentParameters(self: pyaubo_sdk.RobotConfig, arg0: str) -> int

Lua function prototype: setPersistentParameters(param: string) -> nil

◆ setRobotZero()

int arcs::common_interface::RobotConfig::setRobotZero ( )

Set the robot joint zero position.

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setRobotZero(self: pyaubo_sdk.RobotConfig) -> int

Lua function prototype: setRobotZero() -> nil

Lua example: setRobotZero()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setRobotZero","params":[],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setSlowDownFraction()

int arcs::common_interface::RobotConfig::setSlowDownFraction	(	int	level,
		double	fraction
	)

Set the speed reduction ratio for the preset slow-down mode.

Parameters

level	Slow-down level 1, 2
fraction

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setSlowDownFraction","params":[1,0.8],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setTcpForceOffset()

int arcs::common_interface::RobotConfig::setTcpForceOffset ( const std::vector< double > & force_offset )

Set the TCP force/torque offset.

Parameters

force_offset TCP force/torque offset

Returns: Returns 0 on success; error code on failure

Exceptions

arcs::common_interface::AuboException

Python function prototype: setTcpForceOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setTcpForceOffset(force_offset: table) -> nil

Lua example: setTcpForceOffset({0.0,0.0,0.0,0.0,0.0,0.0})

◆ setTcpForceSensorPose()

int arcs::common_interface::RobotConfig::setTcpForceSensorPose ( const std::vector< double > & sensor_pose )

Set the sensor mounting pose.

Parameters

sensor_pose Sensor mounting pose

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

◆ setTcpOffset()

int arcs::common_interface::RobotConfig::setTcpOffset ( const std::vector< double > & offset )

Set the current TCP offset.

The TCP offset is represented as (x, y, z, rx, ry, rz). x, y, z are the position offsets of the Tool Center Point (TCP) relative to the flange center in the base coordinate system, in meters. rx, ry, rz are the orientation offsets of the TCP relative to the flange center in the base coordinate system, as ZYX Euler angles in radians.

Parameters

offset The current TCP offset, in the form (x, y, z, rx, ry, rz)

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setTcpOffset(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> int

Lua function prototype: setTcpOffset(offset: table) -> nil

Lua example: setTcpOffset({0.0,0.0,0.0,0.0,0.0,0.0})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.setTcpOffset","params":[[0.0,0.0,0.0,0.0,0.0,0.0]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0}

◆ setToolInertial()

int arcs::common_interface::RobotConfig::setToolInertial	(	double	m,
		const std::vector< double > &	com,
		const std::vector< double > &	inertial
	)

Set tool mass, center of mass, and inertia.

Parameters

m	Tool mass
com	Center of mass
inertial	Inertia

Returns: Returns 0 on success; error code on failure AUBO_BUSY AUBO_BAD_STATE -AUBO_INVL_ARGUMENT -AUBO_BAD_STATE

Exceptions

arcs::common_interface::AuboException

Python function prototype: setToolInertial(self: pyaubo_sdk.RobotConfig, arg0: float, arg1: List[float], arg2: List[float]) -> int

Lua function prototype: setToolInertial(m: number, com: table, inertial: table) -> nil

Lua example: setToolInertial(3, {0,0,0}, {0,0,0}, {0,0,0,0,0,0,0,0,0})

◆ setWorkObjectData()

int arcs::common_interface::RobotConfig::setWorkObjectData ( const WObjectData & wobj )

Set work object data.

All programmed points are based on the work object coordinate system.

◆ toolSpaceInRange()

bool arcs::common_interface::RobotConfig::toolSpaceInRange ( const std::vector< double > & pose )

Whether the end-effector pose is within the safety range.

Parameters

pose	End-effector pose

Returns: Returns true if within the safety range; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: toolSpaceInRange(self: pyaubo_sdk.RobotConfig, arg0: List[float]) -> bool

Lua function prototype: toolSpaceInRange(pose: table) -> boolean

Lua example: SpaceInRange = toolSpaceInRange({0.58712,-0.15775, 0.48703, 2.76, 0.344, 1.432})

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotConfig.toolSpaceInRange","params":[[0.58712, -0.15775, 0.48703, 2.76, 0.344, 1.432]],"id":1}

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":true}

Member Data Documentation

◆ d_

void* arcs::common_interface::RobotConfig::d_

protected

Definition at line 3630 of file robot_config.h.

The documentation for this class was generated from the following file:

include/aubo/robot/robot_config.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotConfig()

◆ ~RobotConfig()

Member Function Documentation

◆ attachRobotBaseTo()

◆ attachWeldingGun()

◆ calcSafetyParametersCheckSum()

◆ confirmSafetyParameters()

◆ firmwareUpdate()

◆ getBaseForceOffset()

◆ getBaseForceSensorNames()

◆ getCollisionLevel()

◆ getCollisionStopType()

◆ getCollisionThreshold()

◆ getControlBoxType()

◆ getCycletime()

◆ getDefaultJointAcc()

◆ getDefaultJointSpeed()

◆ getDefaultToolAcc()

◆ getDefaultToolSpeed()

◆ getDof()

◆ getFirmwareUpdateProcess()

◆ getFreedriveDamp()

◆ getGravity()

◆ getHandguidDamp()

◆ getHardwareCustomParameters()

◆ getHomePosition()

◆ getJointMaxAccelerations()

◆ getJointMaxPositions()

◆ getJointMaxSpeeds()

◆ getJointMinPositions()

◆ getKinematicsCompensate()

◆ getKinematicsParam()

◆ getLimitJointMaxAccelerations()

◆ getLimitJointMaxPositions()

◆ getLimitJointMaxSpeeds()

◆ getLimitJointMinPositions()

◆ getLimitTcpMaxSpeed()

◆ getMountingPose()

◆ getName()

◆ getPayload()

◆ getRobotBaseParent()

◆ getRobotEmergencyStopSource()

◆ getRobotSubType()

◆ getRobotType()

◆ getSafeguardStopSource()

◆ getSafeguardStopType()

◆ getSafetyParametersCheckSum()

◆ getSelectedTcpForceSensorName()

◆ getSlowDownFraction()

◆ getTcpForceOffset()

◆ getTcpForceSensorNames()

◆ getTcpForceSensorPose()

◆ getTcpMaxAccelerations()

◆ getTcpMaxSpeeds()

◆ getTcpOffset()

◆ hasBaseForceSensor()

◆ hasTcpForceSensor()

◆ selectBaseForceSensor()

◆ selectTcpForceSensor()

◆ setBaseForceOffset()

◆ setCollisionLevel()

◆ setCollisionStopType()

◆ setCollisionThreshold()

◆ setFreedriveDamp()

◆ setGravity()

◆ setHandguidDamp()

◆ setHardwareCustomParameters()

◆ setHomePosition()

◆ setKinematicsCompensate()

◆ setMountingPose()

◆ setPayload()

◆ setPersistentParameters()

◆ setRobotZero()

◆ setSlowDownFraction()

◆ setTcpForceOffset()

◆ setTcpForceSensorPose()