Collaboration diagram for RobotState (机器人状态查询):

Functions
RobotModeType	arcs::common_interface::RobotState::getRobotModeType ()
	Get the robot mode state
SafetyModeType	arcs::common_interface::RobotState::getSafetyModeType ()
	Get the safety mode
bool	arcs::common_interface::RobotState::isPowerOn ()
	Get the robot power-on state
bool	arcs::common_interface::RobotState::isSteady ()
	Whether the robot has stopped
bool	arcs::common_interface::RobotState::isCollisionOccurred ()
	Whether a collision has occurred
bool	arcs::common_interface::RobotState::isWithinSafetyLimits ()
	Whether the robot is within safety limits
std::vector< double >	arcs::common_interface::RobotState::getTcpPose ()
	Get the current TCP pose.
std::vector< double >	arcs::common_interface::RobotState::getActualTcpOffset ()
	Get the current TCP offset, which is the TCP offset used by the pose returned from getTcpPose
std::vector< double >	arcs::common_interface::RobotState::getTargetTcpPose ()
	Get the next target waypoint.
std::vector< double >	arcs::common_interface::RobotState::getToolPose ()
	Get the tool pose (without TCP offset)
std::vector< double >	arcs::common_interface::RobotState::getTcpSpeed ()
	Get the TCP speed
std::vector< double >	arcs::common_interface::RobotState::getTcpForce ()
	Get the TCP force/torque
std::vector< double >	arcs::common_interface::RobotState::getElbowPosistion ()
	Get the position of the elbow
std::vector< double >	arcs::common_interface::RobotState::getElbowVelocity ()
	Get the elbow velocity
std::vector< double >	arcs::common_interface::RobotState::getBaseForce ()
	Get the base force/torque
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetPose ()
	Get the last sent TCP target pose
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetSpeed ()
	Get the TCP target speed
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetForce ()
	Get the TCP target force/torque
std::vector< JointStateType >	arcs::common_interface::RobotState::getJointState ()
	Get the joint state of the manipulator
std::vector< JointServoModeType >	arcs::common_interface::RobotState::getJointServoMode ()
	Get the servo state of the joints
std::vector< double >	arcs::common_interface::RobotState::getJointPositions ()
	Get the joint positions of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointPositionsHistory (int steps)
	Get the historical joint positions of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointSpeeds ()
	Get the joint speeds of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointAccelerations ()
	Get the joint accelerations of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTorqueSensors ()
	Get the joint torques of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointContactTorques ()
	Get the joint contact torques (external torques) of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointGravityTorques ()
	Get the joint gravity torque of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getTcpForceSensors ()
	Get the TCP force sensor readings
std::vector< double >	arcs::common_interface::RobotState::getJointCurrents ()
	Get the joint currents of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointVoltages ()
	Get the joint voltages of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTemperatures ()
	Get the joint temperatures of the manipulator
std::vector< std::string >	arcs::common_interface::RobotState::getJointUniqueIds ()
	Get the globally unique IDs of the joints
std::vector< int >	arcs::common_interface::RobotState::getJointFirmwareVersions ()
	Get the joint firmware versions
std::vector< int >	arcs::common_interface::RobotState::getJointHardwareVersions ()
	Get the joint hardware versions
std::string	arcs::common_interface::RobotState::getMasterBoardUniqueId ()
	Get the globally unique ID of the MasterBoard
int	arcs::common_interface::RobotState::getMasterBoardFirmwareVersion ()
	Get the MasterBoard firmware version
int	arcs::common_interface::RobotState::getMasterBoardHardwareVersion ()
	Get the MasterBoard hardware version
std::string	arcs::common_interface::RobotState::getSlaveBoardUniqueId ()
	Get the globally unique ID of the SlaveBoard
int	arcs::common_interface::RobotState::getSlaveBoardFirmwareVersion ()
	Get the SlaveBoard firmware version
int	arcs::common_interface::RobotState::getSlaveBoardHardwareVersion ()
	Get the SlaveBoard hardware version
std::string	arcs::common_interface::RobotState::getHandleUniqueId ()
	Get the globally unique ID of the Handle
int	arcs::common_interface::RobotState::getHandleFirmwareVersion ()
	Get the Handle firmware version
int	arcs::common_interface::RobotState::getHandleHardwareVersion ()
	Get the Handle hardware version
HandleStateType	arcs::common_interface::RobotState::getHandleState ()
	Get the Handle state
HandleModeType	arcs::common_interface::RobotState::getHandleMode ()
	Get the Handle mode
std::string	arcs::common_interface::RobotState::getToolUniqueId ()
	Get the globally unique ID of the tool
int	arcs::common_interface::RobotState::getToolFirmwareVersion ()
	Get the tool firmware version
int	arcs::common_interface::RobotState::getToolHardwareVersion ()
	Get the tool hardware version
int	arcs::common_interface::RobotState::getToolCommMode ()
	Get the tool communication mode
std::string	arcs::common_interface::RobotState::getPedestalUniqueId ()
	Get the globally unique ID of the pedestal
int	arcs::common_interface::RobotState::getPedestalFirmwareVersion ()
	Get the pedestal firmware version
int	arcs::common_interface::RobotState::getPedestalHardwareVersion ()
	Get the pedestal hardware version
std::vector< double >	arcs::common_interface::RobotState::getJointTargetPositions ()
	Get the target joint positions (angles) of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTargetSpeeds ()
	Get the target joint speeds of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTargetAccelerations ()
	Get the target joint accelerations of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTargetTorques ()
	Get the target joint torques of the manipulator
std::vector< double >	arcs::common_interface::RobotState::getJointTargetCurrents ()
	Get the target joint currents of the manipulator
bool	arcs::common_interface::RobotState::isTeachPendantEnabled ()
	Get whether the teach pendant is enabled.
bool	arcs::common_interface::RobotState::isToolFlangeEnabled ()
	Get whether the tool flange is enabled.
double	arcs::common_interface::RobotState::getControlBoxTemperature ()
	Get the control box temperature
double	arcs::common_interface::RobotState::getControlBoxHumidity ()
	Get the control box humidity
double	arcs::common_interface::RobotState::getMainVoltage ()
	Get the main bus voltage
double	arcs::common_interface::RobotState::getMainCurrent ()
	Get the main bus current
double	arcs::common_interface::RobotState::getRobotVoltage ()
	Get the robot voltage
double	arcs::common_interface::RobotState::getRobotCurrent ()
	Get the robot current
int	arcs::common_interface::RobotState::getSlowDownLevel ()
	Get the robot slow down level
bool	arcs::common_interface::RobotState::getTcpForceSensorStatus (const std::string &name)
	Get the communication status of the tool force sensor

Detailed Description

RobotState.

Function Documentation

◆ getActualTcpOffset()

std::vector< double > arcs::common_interface::RobotState::getActualTcpOffset ( )

Get the current TCP offset, which is the TCP offset used by the pose returned from getTcpPose

Returns: The current TCP offset

Lua function prototype: getActualTcpOffset() -> table

Lua example: ActualTcpOffset = getActualTcpOffset()

◆ getBaseForce()

std::vector< double > arcs::common_interface::RobotState::getBaseForce ( )

Get the base force/torque

Returns: Base force/torque

Exceptions

arcs::common_interface::AuboException

Python function prototype: getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getBaseForce() -> table

Lua example: BaseForce = getBaseForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","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]}

◆ getControlBoxHumidity()

double arcs::common_interface::RobotState::getControlBoxHumidity ( )

Get the control box humidity

Returns: Control box humidity

Exceptions

arcs::common_interface::AuboException

Python function prototype: getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getControlBoxHumidity() -> number

Lua example: ControlBoxHumidity = getControlBoxHumidity()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":20.0}

◆ getControlBoxTemperature()

double arcs::common_interface::RobotState::getControlBoxTemperature ( )

Get the control box temperature

Returns: Control box temperature

Exceptions

arcs::common_interface::AuboException

Python function prototype: getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getControlBoxTemperature() -> number

Lua example: ControlBoxTemperature = getControlBoxTemperature()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":25.0}

◆ getElbowPosistion()

std::vector< double > arcs::common_interface::RobotState::getElbowPosistion ( )

Get the position of the elbow

Returns: The position of the elbow

Exceptions

arcs::common_interface::AuboException

Python function prototype: getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getElbowPosistion() -> table

Lua example: ElbowPosistion = getElbowPosistion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.07355755887512408,-0.1325,0.43200874126125227,-1.5707963267948968,0.433006344376404,0.0]}

◆ getElbowVelocity()

std::vector< double > arcs::common_interface::RobotState::getElbowVelocity ( )

Get the elbow velocity

Returns: Elbow velocity

Exceptions

arcs::common_interface::AuboException

Python function prototype: getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getElbowVelocity() -> table

Lua example: ElbowVelocity = getElbowVelocity()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","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]}

◆ getHandleFirmwareVersion()

int arcs::common_interface::RobotState::getHandleFirmwareVersion ( )

Get the Handle firmware version

Returns: Handle firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandleFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getHandleFirmwareVersion() -> number

Lua example: HandleFirmwareVersion = getHandleFirmwareVersion()

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

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

◆ getHandleHardwareVersion()

int arcs::common_interface::RobotState::getHandleHardwareVersion ( )

Get the Handle hardware version

Returns: Handle hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandleHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getHandleHardwareVersion() -> number

Lua example: HandleHardwareVersion = getHandleHardwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6030098}

◆ getHandleMode()

HandleModeType arcs::common_interface::RobotState::getHandleMode ( )

Get the Handle mode

Returns: Handle mode

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandleMode(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getHandleMode() -> number

Lua example: HandleHardwareVersion = getHandleMode()

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

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

◆ getHandleState()

HandleStateType arcs::common_interface::RobotState::getHandleState ( )

Get the Handle state

Returns: Handle state

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandleState(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getHandleState() -> number

Lua example: HandleHardwareVersion = getHandleState()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6030098}

◆ getHandleUniqueId()

std::string arcs::common_interface::RobotState::getHandleUniqueId ( )

Get the globally unique ID of the Handle

Returns: Globally unique ID of the Handle

Exceptions

arcs::common_interface::AuboException

Python function prototype: getHandleUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getHandleUniqueId() -> string

Lua example: HandleUniqueId = getHandleUniqueId()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}

◆ getJointAccelerations()

std::vector< double > arcs::common_interface::RobotState::getJointAccelerations ( )

Get the joint accelerations of the manipulator

Returns: Joint accelerations of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointAccelerations() -> table

Lua example: JointAccelerations = getJointAccelerations()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","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]}

◆ getJointContactTorques()

std::vector< double > arcs::common_interface::RobotState::getJointContactTorques ( )

Get the joint contact torques (external torques) of the manipulator

Returns: Joint contact torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointContactTorques() -> table

Lua example: JointContactTorques = getJointContactTorques()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","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]}

◆ getJointCurrents()

std::vector< double > arcs::common_interface::RobotState::getJointCurrents ( )

Get the joint currents of the manipulator

Returns: Joint currents of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointCurrents() -> table

Lua example: JointCurrents = getJointCurrents()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,1.25885009765625,-1.5289306640625,0.71868896484375,0.1007080078125,0.3021240234375]}

◆ getJointFirmwareVersions()

std::vector< int > arcs::common_interface::RobotState::getJointFirmwareVersions ( )

Get the joint firmware versions

Returns: Joint firmware versions

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua function prototype: getJointFirmwareVersions() -> table

Lua example: JointFirmwareVersions = getJointFirmwareVersions()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}

◆ getJointGravityTorques()

std::vector< double > arcs::common_interface::RobotState::getJointGravityTorques ( )

Get the joint gravity torque of the manipulator

Returns: Joint gravity torque of the manipulator, containing torque values for 6 joints (unit: Nm)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointGravityTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointGravityTorques() -> table

Lua example: local jointGravityTorques = getJointGravityTorques()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1.23, -2.34, 3.45, -4.56, 0.78, -0.12]}

◆ getJointHardwareVersions()

std::vector< int > arcs::common_interface::RobotState::getJointHardwareVersions ( )

Get the joint hardware versions

Returns: Joint hardware versions

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua function prototype: getJointHardwareVersions() -> table

Lua example: JointHardwareVersions = getJointHardwareVersions()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}

◆ getJointPositions()

std::vector< double > arcs::common_interface::RobotState::getJointPositions ( )

Get the joint positions of the manipulator

Returns: Joint positions of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointPositions() -> table

Lua example: JointPositions = getJointPositions()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.26199241371495835,1.7418102574563423,0.4330197667082982,1.5707963267948966,0.0]}

◆ getJointPositionsHistory()

std::vector< double > arcs::common_interface::RobotState::getJointPositionsHistory ( int steps )

Get the historical joint positions of the manipulator

Parameters

steps Number of steps

Returns: Historical joint positions of the manipulator

◆ getJointServoMode()

std::vector< JointServoModeType > arcs::common_interface::RobotState::getJointServoMode ( )

Get the servo state of the joints

Returns: The servo state of the joints

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointServoMode(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointServoModeType]

Lua function prototype: getJointServoMode() -> table

Lua example: JointServoMode = getJointServoMode()

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

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

◆ getJointSpeeds()

std::vector< double > arcs::common_interface::RobotState::getJointSpeeds ( )

Get the joint speeds of the manipulator

Returns: Joint speeds of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointSpeeds() -> table

Lua example: JointSpeeds = getJointSpeeds()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","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]}

◆ getJointState()

std::vector< JointStateType > arcs::common_interface::RobotState::getJointState ( )

Get the joint state of the manipulator

Returns: Joint state of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointState(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointStateType]

Lua function prototype: getJointState() -> table

Lua example: JointState = getJointState()

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

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

◆ getJointTargetAccelerations()

std::vector< double > arcs::common_interface::RobotState::getJointTargetAccelerations ( )

Get the target joint accelerations of the manipulator

Returns: Target joint accelerations of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetAccelerations() -> table

Lua example: JointTargetAccelerations = getJointTargetAccelerations()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.6737932929246071,-12.610253240108449,0.0,0.0,0.0]}

◆ getJointTargetCurrents()

std::vector< double > arcs::common_interface::RobotState::getJointTargetCurrents ( )

Get the target joint currents of the manipulator

Returns: Target joint currents of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetCurrents() -> table

Lua example: JointTargetCurrents = getJointTargetCurrents()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","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]}

◆ getJointTargetPositions()

std::vector< double > arcs::common_interface::RobotState::getJointTargetPositions ( )

Get the target joint positions (angles) of the manipulator

Returns: Target joint positions (angles) of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetPositions() -> table

Lua example: JointTargetPositions = getJointTargetPositions()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,-0.2619944355631239,1.7418124015308052,0.4330219266665035,1.5707963267948966,0.0]}

◆ getJointTargetSpeeds()

std::vector< double > arcs::common_interface::RobotState::getJointTargetSpeeds ( )

Get the target joint speeds of the manipulator

Returns: Target joint speeds of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetSpeeds() -> table

Lua example: JointTargetSpeeds = getJointTargetSpeeds()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,0.00024227101509399773,0.0016521760307419697,0.0026521060731088397,0.0,0.0]}

◆ getJointTargetTorques()

std::vector< double > arcs::common_interface::RobotState::getJointTargetTorques ( )

Get the target joint torques of the manipulator

Returns: Target joint torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTargetTorques() -> table

Lua example: JointTargetTorques = getJointTargetTorques()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","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]}

◆ getJointTemperatures()

std::vector< double > arcs::common_interface::RobotState::getJointTemperatures ( )

Get the joint temperatures of the manipulator

Returns: Joint temperatures of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTemperatures() -> table

Lua example: JointTemperatures = getJointTemperatures()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[38.0,38.0,38.0,39.0,38.0,39.0]}

◆ getJointTorqueSensors()

std::vector< double > arcs::common_interface::RobotState::getJointTorqueSensors ( )

Get the joint torques of the manipulator

Returns: Joint torques of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointTorqueSensors() -> table

Lua example: JointTorqueSensors = getJointTorqueSensors()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.0,6275.367736816406,-7704.2816162109375,3586.9766235351563,503.0364990234375,1506.0882568359375]}

◆ getJointUniqueIds()

std::vector< std::string > arcs::common_interface::RobotState::getJointUniqueIds ( )

Get the globally unique IDs of the joints

Returns: Globally unique IDs of the joints

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]

Lua function prototype: getJointUniqueIds() -> table

Lua example: JointUniqueIds = getJointUniqueIds()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":["00800020ffffffff31405153","00800020ffffffff3e3f5153","00800020ffffffff414b5153","00800020ffffffff31065153","00800020ffffffff41535153","00800020ffffffff41545153"]}

◆ getJointVoltages()

std::vector< double > arcs::common_interface::RobotState::getJointVoltages ( )

Get the joint voltages of the manipulator

Returns: Joint voltages of the manipulator

Exceptions

arcs::common_interface::AuboException

Python function prototype: getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getJointVoltages() -> table

Lua example: JointVoltages = getJointVoltages()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[2.0,2.5,3.0,2.0,2.5,2.0]}

◆ getMainCurrent()

double arcs::common_interface::RobotState::getMainCurrent ( )

Get the main bus current

Returns: Main bus current

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMainCurrent(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getMainCurrent() -> number

Lua example: MainCurrent = getMainCurrent()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getMainVoltage()

double arcs::common_interface::RobotState::getMainVoltage ( )

Get the main bus voltage

Returns: Main bus voltage

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMainVoltage(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getMainVoltage() -> number

Lua example: MainVoltage = getMainVoltage()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getMasterBoardFirmwareVersion()

int arcs::common_interface::RobotState::getMasterBoardFirmwareVersion ( )

Get the MasterBoard firmware version

Returns: MasterBoard firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getMasterBoardFirmwareVersion() -> number

Lua example: MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getMasterBoardHardwareVersion()

int arcs::common_interface::RobotState::getMasterBoardHardwareVersion ( )

Get the MasterBoard hardware version

Returns: MasterBoard hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getMasterBoardHardwareVersion() -> number

Lua example: MasterBoardHardwareVersion = getMasterBoardHardwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getMasterBoardUniqueId()

std::string arcs::common_interface::RobotState::getMasterBoardUniqueId ( )

Get the globally unique ID of the MasterBoard

Returns: Globally unique ID of the MasterBoard

Exceptions

arcs::common_interface::AuboException

Python function prototype: getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getMasterBoardUniqueId() -> string

Lua example: MasterBoardUniqueId = getMasterBoardUniqueId()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}

◆ getPedestalFirmwareVersion()

int arcs::common_interface::RobotState::getPedestalFirmwareVersion ( )

Get the pedestal firmware version

Returns: Pedestal firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getPedestalFirmwareVersion() -> number

Lua example: PedestalFirmwareVersion = getPedestalFirmwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getPedestalHardwareVersion()

int arcs::common_interface::RobotState::getPedestalHardwareVersion ( )

Get the pedestal hardware version

Returns: Pedestal hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getPedestalHardwareVersion() -> number

Lua example: PedestalHardwareVersion = getPedestalHardwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1007000}

◆ getPedestalUniqueId()

std::string arcs::common_interface::RobotState::getPedestalUniqueId ( )

Get the globally unique ID of the pedestal

Returns: Globally unique ID of the pedestal

Exceptions

arcs::common_interface::AuboException

Python function prototype: getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getPedestalUniqueId() -> string

Lua example: PedestalUniqueId = getPedestalUniqueId()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}

◆ getRobotCurrent()

double arcs::common_interface::RobotState::getRobotCurrent ( )

Get the robot current

Returns: Robot current

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotCurrent(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getRobotCurrent() -> number

Lua example: RobotCurrent = getRobotCurrent()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getRobotModeType()

RobotModeType arcs::common_interface::RobotState::getRobotModeType ( )

Get the robot mode state

Returns: The robot's mode state

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::RobotModeType

Lua function prototype: getRobotModeType() -> number

Lua example: RobotModeType = getRobotModeType()

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

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

◆ getRobotVoltage()

double arcs::common_interface::RobotState::getRobotVoltage ( )

Get the robot voltage

Returns: Robot voltage

Exceptions

arcs::common_interface::AuboException

Python function prototype: getRobotVoltage(self: pyaubo_sdk.RobotState) -> float

Lua function prototype: getRobotVoltage() -> number

Lua example: RobotVoltage = getRobotVoltage()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getSafetyModeType()

SafetyModeType arcs::common_interface::RobotState::getSafetyModeType ( )

Get the safety mode

Returns: The safety mode

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSafetyModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::SafetyModeType

Lua function prototype: getSafetyModeType() -> number

Lua example: SafetyModeType = getSafetyModeType()

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

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

◆ getSlaveBoardFirmwareVersion()

int arcs::common_interface::RobotState::getSlaveBoardFirmwareVersion ( )

Get the SlaveBoard firmware version

Returns: SlaveBoard firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getSlaveBoardFirmwareVersion() -> number

Lua example: SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion()

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

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

◆ getSlaveBoardHardwareVersion()

int arcs::common_interface::RobotState::getSlaveBoardHardwareVersion ( )

Get the SlaveBoard hardware version

Returns: SlaveBoard hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getSlaveBoardHardwareVersion() -> number

Lua example: SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":6030098}

◆ getSlaveBoardUniqueId()

std::string arcs::common_interface::RobotState::getSlaveBoardUniqueId ( )

Get the globally unique ID of the SlaveBoard

Returns: Globally unique ID of the SlaveBoard

Exceptions

arcs::common_interface::AuboException

Python function prototype: getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getSlaveBoardUniqueId() -> string

Lua example: SlaveBoardUniqueId = getSlaveBoardUniqueId()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}

◆ getSlowDownLevel()

int arcs::common_interface::RobotState::getSlowDownLevel ( )

Get the robot slow down level

Returns: Robot slow down level

Exceptions

arcs::common_interface::AuboException

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

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

◆ getTargetTcpPose()

std::vector< double > arcs::common_interface::RobotState::getTargetTcpPose ( )

Get the next target waypoint.

Note the difference from getTcpTargetPose; the definition here is ambiguous and the naming needs improvement.

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

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

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTargetTcpPose() -> table

Lua example: TargetTcpPose = getTargetTcpPose()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.4173932217619493,-0.13250000000000012,0.43296496133045825,3.141577313781914,0.0,1.5707963267948963]}

◆ getTcpForce()

std::vector< double > arcs::common_interface::RobotState::getTcpForce ( )

Get the TCP force/torque

Returns: TCP force/torque

Python function prototype: getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpForce() -> table

Lua example: TcpForce = getTcpForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","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]}

◆ getTcpForceSensors()

std::vector< double > arcs::common_interface::RobotState::getTcpForceSensors ( )

Get the TCP force sensor readings

Returns: TCP force sensor readings

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpForceSensors() -> table

Lua example: TcpForceSensors = getTcpForceSensors()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","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]}

◆ getTcpForceSensorStatus()

bool arcs::common_interface::RobotState::getTcpForceSensorStatus ( const std::string & name )

Get the communication status of the tool force sensor

Parameters

name	force sensor name, it is consistent with the parameters of 'selectTcpForceSensor'

Returns: Returns true if communication is normal; otherwise returns false

Exceptions

arcs::common_interface::AuboException

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getSlowDownLevel","params":["tool.KWR75A"],"id":1}

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

◆ getTcpPose()

std::vector< double > arcs::common_interface::RobotState::getTcpPose ( )

Get the current TCP pose.

The TCP offset can be obtained by getActualTcpOffset.

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

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

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpPose() -> table

Lua example: TcpPose = getTcpPose()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777839846910425,-0.13250000000000012,0.20928451364415995,3.1415792312578987,0.0,1.5707963267948963]}

◆ getTcpSpeed()

std::vector< double > arcs::common_interface::RobotState::getTcpSpeed ( )

Get the TCP speed

Returns: TCP speed

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpSpeed() -> table

Lua example: TcpSpeed = getTcpSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","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]}

◆ getTcpTargetForce()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetForce ( )

Get the TCP target force/torque

Returns: TCP target force/torque

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetForce() -> table

Lua example: TcpTargetForce = getTcpTargetForce()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","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]}

◆ getTcpTargetPose()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetPose ( )

Get the last sent TCP target pose

Returns: TCP target pose

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetPose() -> table

Lua example: TcpTargetPose = getTcpTargetPose()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777829240862013,-0.13250000000000012,0.2092832117232601,3.1415812372223217,0.0,1.5707963267948963]}

◆ getTcpTargetSpeed()

std::vector< double > arcs::common_interface::RobotState::getTcpTargetSpeed ( )

Get the TCP target speed

Returns: TCP target speed

Exceptions

arcs::common_interface::AuboException

Python function prototype: getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getTcpTargetSpeed() -> table

Lua example: TcpTargetSpeed = getTcpTargetSpeed()

JSON-RPC request example: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","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]}

◆ getToolCommMode()

int arcs::common_interface::RobotState::getToolCommMode ( )

Get the tool communication mode

Returns: Tool communication mode 0: No serial port 1: Serial port only 2: With force sensor and serial port

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolCommMode(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolCommMode() -> number

Lua example: ToolCommMode = getToolCommMode()

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

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

◆ getToolFirmwareVersion()

int arcs::common_interface::RobotState::getToolFirmwareVersion ( )

Get the tool firmware version

Returns: Tool firmware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolFirmwareVersion() -> number

Lua example: ToolFirmwareVersion = getToolFirmwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1001003}

◆ getToolHardwareVersion()

int arcs::common_interface::RobotState::getToolHardwareVersion ( )

Get the tool hardware version

Returns: Tool hardware version

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua function prototype: getToolHardwareVersion() -> number

Lua example: ToolHardwareVersion = getToolHardwareVersion()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getToolPose()

std::vector< double > arcs::common_interface::RobotState::getToolPose ( )

Get the tool pose (without TCP offset)

The pose is represented as (x, y, z, rx, ry, rz). x, y, z are the target position of the flange center in the base coordinate system, in meters. rx, ry, rz are the target orientation of the flange center in the base coordinate system, as ZYX Euler angles in radians.

Returns: The tool pose, in the form (x, y, z, rx, ry, rz)

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua function prototype: getToolPose() -> table

Lua example: ToolPose = getToolPose()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":[0.41777820858878617,-0.13250000000000012,0.20928410288421018,3.141579231257899,0.0,1.5707963267948963]}

◆ getToolUniqueId()

std::string arcs::common_interface::RobotState::getToolUniqueId ( )

Get the globally unique ID of the tool

Returns: Globally unique ID of the tool

Exceptions

arcs::common_interface::AuboException

Python function prototype: getToolUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua function prototype: getToolUniqueId() -> string

Lua example: ToolUniqueId = getToolUniqueId()

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

JSON-RPC response example: {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}

◆ isCollisionOccurred()

bool arcs::common_interface::RobotState::isCollisionOccurred ( )

Whether a collision has occurred

Returns: Returns true if a collision occurred; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype: isCollisionOccurred() -> boolean

Lua example: CollisionOccurred = isCollisionOccurred()

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

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

◆ isPowerOn()

bool arcs::common_interface::RobotState::isPowerOn ( )

Get the robot power-on state

Returns: Returns true if the robot is powered on; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Lua function prototype: isPowerOn() -> boolean

Lua example: PowerOn = isPowerOn()

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

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

◆ isSteady()

bool arcs::common_interface::RobotState::isSteady ( )

Whether the robot has stopped

Returns: Returns true if stopped; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isSteady(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isSteady() -> boolean

Lua exaple: Steady = isSteady()

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

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

◆ isTeachPendantEnabled()

bool arcs::common_interface::RobotState::isTeachPendantEnabled ( )

Get whether the teach pendant is enabled.

Indicates whether the enable button of teach pendant is in the pressed state.

Returns: Returns false if the enable button of teach pendant is pressed; otherwise returns true

Exceptions

arcs::common_interface::AuboException

Python function prototype: isTeachPendantEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isTeachPendantEnabled() -> boolean

Lua example: TeachPendantEnabled = isTeachPendantEnabled()

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

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

◆ isToolFlangeEnabled()

bool arcs::common_interface::RobotState::isToolFlangeEnabled ( )

Get whether the tool flange is enabled.

Returns: Returns false if the tool flange is disabled; otherwise returns true

Exceptions

arcs::common_interface::AuboException

Python function prototype: isToolFlangeEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isToolFlangeEnabled() -> boolean

Lua example: toolEnabled = isToolFlangeEnabled()

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

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

◆ isWithinSafetyLimits()

bool arcs::common_interface::RobotState::isWithinSafetyLimits ( )

Whether the robot is within safety limits

Returns: Returns true if within safety limits; otherwise returns false

Exceptions

arcs::common_interface::AuboException

Python function prototype: isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool

Lua function prototype: isWithinSafetyLimits() -> boolean

Lua example: WithinSafetyLimits = isWithinSafetyLimits()

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

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

	AUBO SDK 0.26.0

Functions

Detailed Description

Function Documentation

◆ getActualTcpOffset()

◆ getBaseForce()

◆ getControlBoxHumidity()

◆ getControlBoxTemperature()

◆ getElbowPosistion()

◆ getElbowVelocity()

◆ getHandleFirmwareVersion()

◆ getHandleHardwareVersion()

◆ getHandleMode()

◆ getHandleState()

◆ getHandleUniqueId()

◆ getJointAccelerations()

◆ getJointContactTorques()

◆ getJointCurrents()

◆ getJointFirmwareVersions()

◆ getJointGravityTorques()

◆ getJointHardwareVersions()

◆ getJointPositions()

◆ getJointPositionsHistory()

◆ getJointServoMode()

◆ getJointSpeeds()

◆ getJointState()

◆ getJointTargetAccelerations()

◆ getJointTargetCurrents()

◆ getJointTargetPositions()

◆ getJointTargetSpeeds()

◆ getJointTargetTorques()

◆ getJointTemperatures()

◆ getJointTorqueSensors()

◆ getJointUniqueIds()

◆ getJointVoltages()

◆ getMainCurrent()

◆ getMainVoltage()

◆ getMasterBoardFirmwareVersion()

◆ getMasterBoardHardwareVersion()

◆ getMasterBoardUniqueId()

◆ getPedestalFirmwareVersion()

◆ getPedestalHardwareVersion()

◆ getPedestalUniqueId()

◆ getRobotCurrent()

◆ getRobotModeType()

◆ getRobotVoltage()

◆ getSafetyModeType()

◆ getSlaveBoardFirmwareVersion()

◆ getSlaveBoardHardwareVersion()

◆ getSlaveBoardUniqueId()

◆ getSlowDownLevel()

◆ getTargetTcpPose()

◆ getTcpForce()

◆ getTcpForceSensors()

◆ getTcpForceSensorStatus()

◆ getTcpPose()

◆ getTcpSpeed()

◆ getTcpTargetForce()

◆ getTcpTargetPose()

◆ getTcpTargetSpeed()

◆ getToolCommMode()

◆ getToolFirmwareVersion()

◆ getToolHardwareVersion()

◆ getToolPose()

◆ getToolUniqueId()

◆ isCollisionOccurred()

◆ isPowerOn()

◆ isSteady()

◆ isTeachPendantEnabled()

◆ isToolFlangeEnabled()

◆ isWithinSafetyLimits()