RobotState (机器人状态查询) 的协作图:

函数
RobotModeType	arcs::common_interface::RobotState::getRobotModeType ()
	获取机器人的模式状态
SafetyModeType	arcs::common_interface::RobotState::getSafetyModeType ()
	获取安全模式
bool	arcs::common_interface::RobotState::isPowerOn ()
	获取机器人通电状态
bool	arcs::common_interface::RobotState::isSteady ()
	机器人是否已经停止下来
bool	arcs::common_interface::RobotState::isCollisionOccurred ()
	机器人是否发生了碰撞
bool	arcs::common_interface::RobotState::isWithinSafetyLimits ()
	机器人是否已经在安全限制之内
std::vector< double >	arcs::common_interface::RobotState::getTcpPose ()
	获取当前的TCP位姿，其 TCP 偏移可以通过 getActualTcpOffset 获取
std::vector< double >	arcs::common_interface::RobotState::getActualTcpOffset ()
	获取当前的 TCP 偏移，也就是 getTcpPose 返回的 pose 用到的 TCP 偏移
std::vector< double >	arcs::common_interface::RobotState::getTargetTcpPose ()
	获取下一个目标路点注意与 getTcpTargetPose 的区别，此处定义存在歧义，命名需要优化
std::vector< double >	arcs::common_interface::RobotState::getToolPose ()
	获取工具端的位姿（不带TCP偏移）
std::vector< double >	arcs::common_interface::RobotState::getTcpSpeed ()
	获取TCP速度
std::vector< double >	arcs::common_interface::RobotState::getTcpForce ()
	获取TCP的力/力矩
std::vector< double >	arcs::common_interface::RobotState::getElbowPosistion ()
	获取肘部的位置
std::vector< double >	arcs::common_interface::RobotState::getElbowVelocity ()
	获取肘部速度
std::vector< double >	arcs::common_interface::RobotState::getBaseForce ()
	获取基座力/力矩
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetPose ()
	获取上一次发送的TCP目标位姿
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetSpeed ()
	获取TCP目标速度
std::vector< double >	arcs::common_interface::RobotState::getTcpTargetForce ()
	获取TCP目标力/力矩
std::vector< JointStateType >	arcs::common_interface::RobotState::getJointState ()
	获取机械臂关节标志
std::vector< JointServoModeType >	arcs::common_interface::RobotState::getJointServoMode ()
	获取关节的伺服状态
std::vector< double >	arcs::common_interface::RobotState::getJointPositions ()
	获取机械臂关节角度
std::vector< double >	arcs::common_interface::RobotState::getJointPositionsHistory (int steps)
	获取机械臂历史关节角度
std::vector< double >	arcs::common_interface::RobotState::getJointSpeeds ()
	获取机械臂关节速度
std::vector< double >	arcs::common_interface::RobotState::getJointAccelerations ()
	获取机械臂关节加速度
std::vector< double >	arcs::common_interface::RobotState::getJointTorqueSensors ()
	获取机械臂关节力矩
std::vector< double >	arcs::common_interface::RobotState::getJointContactTorques ()
	获取机械臂关节接触力矩（外力距）
std::vector< double >	arcs::common_interface::RobotState::getJointGravityTorques ()
	获取机械臂关节重力矩
std::vector< double >	arcs::common_interface::RobotState::getTcpForceSensors ()
	获取TCP力传感器读数
std::vector< double >	arcs::common_interface::RobotState::getJointCurrents ()
	获取机械臂关节电流
std::vector< double >	arcs::common_interface::RobotState::getJointVoltages ()
	获取机械臂关节电压
std::vector< double >	arcs::common_interface::RobotState::getJointTemperatures ()
	获取机械臂关节温度
std::vector< std::string >	arcs::common_interface::RobotState::getJointUniqueIds ()
	获取关节全球唯一ID
std::vector< int >	arcs::common_interface::RobotState::getJointFirmwareVersions ()
	获取关节固件版本
std::vector< int >	arcs::common_interface::RobotState::getJointHardwareVersions ()
	获取关节硬件版本
std::string	arcs::common_interface::RobotState::getMasterBoardUniqueId ()
	获取MasterBoard全球唯一ID
int	arcs::common_interface::RobotState::getMasterBoardFirmwareVersion ()
	获取MasterBoard固件版本
int	arcs::common_interface::RobotState::getMasterBoardHardwareVersion ()
	获取MasterBoard硬件版本
std::string	arcs::common_interface::RobotState::getSlaveBoardUniqueId ()
	获取SlaveBoard全球唯一ID
int	arcs::common_interface::RobotState::getSlaveBoardFirmwareVersion ()
	获取SlaveBoard固件版本
int	arcs::common_interface::RobotState::getSlaveBoardHardwareVersion ()
	获取SlaveBoard硬件版本
std::string	arcs::common_interface::RobotState::getToolUniqueId ()
	获取工具端全球唯一ID
int	arcs::common_interface::RobotState::getToolFirmwareVersion ()
	获取工具端固件版本
int	arcs::common_interface::RobotState::getToolHardwareVersion ()
	获取工具端硬件版本
int	arcs::common_interface::RobotState::getToolCommMode ()
	获取末端通信模式
std::string	arcs::common_interface::RobotState::getPedestalUniqueId ()
	获取底座全球唯一ID
int	arcs::common_interface::RobotState::getPedestalFirmwareVersion ()
	获取底座固件版本
int	arcs::common_interface::RobotState::getPedestalHardwareVersion ()
	获取底座硬件版本
std::vector< double >	arcs::common_interface::RobotState::getJointTargetPositions ()
	获取机械臂关节目标位置角度
std::vector< double >	arcs::common_interface::RobotState::getJointTargetSpeeds ()
	获取机械臂关节目标速度
std::vector< double >	arcs::common_interface::RobotState::getJointTargetAccelerations ()
	获取机械臂关节目标加速度
std::vector< double >	arcs::common_interface::RobotState::getJointTargetTorques ()
	获取机械臂关节目标力矩
std::vector< double >	arcs::common_interface::RobotState::getJointTargetCurrents ()
	获取机械臂关节目标电流
bool	arcs::common_interface::RobotState::isTeachPendantEnabled ()
	获取示教器是否已启用指示教器使能按钮是否处于按下状态
bool	arcs::common_interface::RobotState::isToolFlangeEnabled ()
	获取机械臂末端是否已启用
double	arcs::common_interface::RobotState::getControlBoxTemperature ()
	获取控制柜温度
double	arcs::common_interface::RobotState::getControlBoxHumidity ()
	获取控制柜湿度
double	arcs::common_interface::RobotState::getMainVoltage ()
	获取母线电压
double	arcs::common_interface::RobotState::getMainCurrent ()
	获取母线电流
double	arcs::common_interface::RobotState::getRobotVoltage ()
	获取机器人电压
double	arcs::common_interface::RobotState::getRobotCurrent ()
	获取机器人电流
int	arcs::common_interface::RobotState::getSlowDownLevel ()
	获取机器人缓速等级
bool	arcs::common_interface::RobotState::getTcpForceSensorStatus (const std::string &name)
	获取末端力传感器通信状态

详细描述

RobotState

函数说明

◆ getActualTcpOffset()

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

获取当前的 TCP 偏移，也就是 getTcpPose 返回的 pose 用到的 TCP 偏移

返回: 当前的 TCP 偏移

Lua函数原型: getActualTcpOffset() -> table

Lua示例: ActualTcpOffset = getActualTcpOffset()

◆ getBaseForce()

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

获取基座力/力矩

返回: 基座力/力矩

异常

arcs::common_interface::AuboException

Python函数原型: getBaseForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getBaseForce() -> table

Lua示例: BaseForce = getBaseForce()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getBaseForce","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取控制柜湿度

返回: 控制柜湿度

异常

arcs::common_interface::AuboException

Python函数原型: getControlBoxHumidity(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getControlBoxHumidity() -> number

Lua示例: ControlBoxHumidity = getControlBoxHumidity()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":20.0}

◆ getControlBoxTemperature()

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

获取控制柜温度

返回: 控制柜温度

异常

arcs::common_interface::AuboException

Python函数原型: getControlBoxTemperature(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getControlBoxTemperature() -> number

Lua示例: ControlBoxTemperature = getControlBoxTemperature()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":25.0}

◆ getElbowPosistion()

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

获取肘部的位置

返回: 肘部的位置

异常

arcs::common_interface::AuboException

Python函数原型: getElbowPosistion(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getElbowPosistion() -> table

Lua示例: ElbowPosistion = getElbowPosistion()

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

JSON-RPC响应示例: {"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 ( )

获取肘部速度

返回: 肘部速度

异常

arcs::common_interface::AuboException

Python函数原型: getElbowVelocity(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getElbowVelocity() -> table

Lua示例: ElbowVelocity = getElbowVelocity()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getElbowVelocity","params":[],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[0.0,0.0,0.0,0.0,0.0,0.0]}

◆ getJointAccelerations()

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

获取机械臂关节加速度

返回: 机械臂关节加速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointAccelerations() -> table

Lua示例: JointAccelerations = getJointAccelerations()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointAccelerations","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取机械臂关节接触力矩（外力距）

返回: 机械臂关节接触力矩

异常

arcs::common_interface::AuboException

Python函数原型: getJointContactTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointContactTorques() -> table

Lua示例: JointContactTorques = getJointContactTorques()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointContactTorques","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取机械臂关节电流

返回: 机械臂关节电流

异常

arcs::common_interface::AuboException

Python函数原型: getJointCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointCurrents() -> table

Lua示例: JointCurrents = getJointCurrents()

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

JSON-RPC响应示例: {"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 ( )

获取关节固件版本

返回: 关节固件版本

异常

arcs::common_interface::AuboException

Python函数原型: getJointFirmwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua函数原型: getJointFirmwareVersions() -> table

Lua示例: JointFirmwareVersions = getJointFirmwareVersions()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[1000010,1000010,1000010,1000010,1000010,1000010]}

◆ getJointGravityTorques()

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

获取机械臂关节重力矩

返回: 机械臂关节重力矩，包含6个关节的力矩值（单位：Nm）

异常

arcs::common_interface::AuboException

Python函数原型: getJointGravityTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointGravityTorques() -> table

Lua示例: local jointGravityTorques = getJointGravityTorques()

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

JSON-RPC响应示例: {"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 ( )

获取关节硬件版本

返回: 关节硬件版本

异常

arcs::common_interface::AuboException

Python函数原型: getJointHardwareVersions(self: pyaubo_sdk.RobotState) -> List[int]

Lua函数原型: getJointHardwareVersions() -> table

Lua示例: JointHardwareVersions = getJointHardwareVersions()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":[1000000,1000000,1004000,1004000,1004000,1004000]}

◆ getJointPositions()

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

获取机械臂关节角度

返回: 机械臂关节角度

异常

arcs::common_interface::AuboException

Python函数原型: getJointPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointPositions() -> table

Lua示例: JointPositions = getJointPositions()

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

JSON-RPC响应示例: {"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 )

获取机械臂历史关节角度

参数

steps 步数

返回: 机械臂历史关节角度

◆ getJointServoMode()

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

获取关节的伺服状态

返回: 关节的伺服状态

异常

arcs::common_interface::AuboException

Python函数原型: getJointServoMode(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointServoModeType]

Lua函数原型: getJointServoMode() -> table

Lua示例: JointServoMode = getJointServoMode()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":["Position","Position","Position","Position","Position","Position"]}

◆ getJointSpeeds()

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

获取机械臂关节速度

返回: 机械臂关节速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointSpeeds() -> table

Lua示例: JointSpeeds = getJointSpeeds()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointSpeeds","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取机械臂关节标志

返回: 机械臂关节标志

异常

arcs::common_interface::AuboException

Python函数原型: getJointState(self: pyaubo_sdk.RobotState) -> List[arcs::common_interface::JointStateType]

Lua函数原型: getJointState() -> table

Lua示例: JointState = getJointState()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":["Running","Running","Running","Running","Running","Running"]}

◆ getJointTargetAccelerations()

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

获取机械臂关节目标加速度

返回: 机械臂关节目标加速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointTargetAccelerations(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTargetAccelerations() -> table

Lua示例: JointTargetAccelerations = getJointTargetAccelerations()

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

JSON-RPC响应示例: {"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 ( )

获取机械臂关节目标电流

返回: 机械臂关节目标电流

异常

arcs::common_interface::AuboException

Python函数原型: getJointTargetCurrents(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTargetCurrents() -> table

Lua示例: JointTargetCurrents = getJointTargetCurrents()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetCurrents","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取机械臂关节目标位置角度

返回: 机械臂关节目标位置角度

异常

arcs::common_interface::AuboException

Python函数原型: getJointTargetPositions(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTargetPositions() -> table

Lua示例: JointTargetPositions = getJointTargetPositions()

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

JSON-RPC响应示例: {"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 ( )

获取机械臂关节目标速度

返回: 机械臂关节目标速度

异常

arcs::common_interface::AuboException

Python函数原型: getJointTargetSpeeds(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTargetSpeeds() -> table

Lua示例: JointTargetSpeeds = getJointTargetSpeeds()

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

JSON-RPC响应示例: {"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 ( )

获取机械臂关节目标力矩

返回: 机械臂关节目标力矩

异常

arcs::common_interface::AuboException

Python函数原型: getJointTargetTorques(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTargetTorques() -> table

Lua示例: JointTargetTorques = getJointTargetTorques()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getJointTargetTorques","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取机械臂关节温度

返回: 机械臂关节温度

异常

arcs::common_interface::AuboException

Python函数原型: getJointTemperatures(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTemperatures() -> table

Lua示例: JointTemperatures = getJointTemperatures()

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

JSON-RPC响应示例: {"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 ( )

获取机械臂关节力矩

返回: 机械臂关节力矩

异常

arcs::common_interface::AuboException

Python函数原型: getJointTorqueSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointTorqueSensors() -> table

Lua示例: JointTorqueSensors = getJointTorqueSensors()

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

JSON-RPC响应示例: {"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 ( )

获取关节全球唯一ID

返回: 关节全球唯一ID

异常

arcs::common_interface::AuboException

Python函数原型: getJointUniqueIds(self: pyaubo_sdk.RobotState) -> List[str]

Lua函数原型: getJointUniqueIds() -> table

Lua示例: JointUniqueIds = getJointUniqueIds()

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

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

◆ getJointVoltages()

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

获取机械臂关节电压

返回: 机械臂关节电压

异常

arcs::common_interface::AuboException

Python函数原型: getJointVoltages(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getJointVoltages() -> table

Lua示例: JointVoltages = getJointVoltages()

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

JSON-RPC响应示例: {"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 ( )

获取母线电流

返回: 母线电流

异常

arcs::common_interface::AuboException

Python函数原型: getMainCurrent(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getMainCurrent() -> number

Lua示例: MainCurrent = getMainCurrent()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getMainVoltage()

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

获取母线电压

返回: 母线电压

异常

arcs::common_interface::AuboException

Python函数原型: getMainVoltage(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getMainVoltage() -> number

Lua示例: MainVoltage = getMainVoltage()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getMasterBoardFirmwareVersion()

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

获取MasterBoard固件版本

返回: MasterBoard固件版本

异常

arcs::common_interface::AuboException

Python函数原型: getMasterBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getMasterBoardFirmwareVersion() -> number

Lua示例: MasterBoardFirmwareVersion = getMasterBoardFirmwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getMasterBoardHardwareVersion()

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

获取MasterBoard硬件版本

返回: MasterBoard硬件版本

异常

arcs::common_interface::AuboException

Python函数原型: getMasterBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getMasterBoardHardwareVersion() -> number

Lua示例: MasterBoardHardwareVersion = getMasterBoardHardwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getMasterBoardUniqueId()

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

获取MasterBoard全球唯一ID

返回: MasterBoard全球唯一ID

异常

arcs::common_interface::AuboException

Python函数原型: getMasterBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua函数原型: getMasterBoardUniqueId() -> string

Lua示例: MasterBoardUniqueId = getMasterBoardUniqueId()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"001e0044510f343037323637"}

◆ getPedestalFirmwareVersion()

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

获取底座固件版本

返回: 底座固件版本

异常

arcs::common_interface::AuboException

Python函数原型: getPedestalFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getPedestalFirmwareVersion() -> number

Lua示例: PedestalFirmwareVersion = getPedestalFirmwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1000004}

◆ getPedestalHardwareVersion()

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

获取底座硬件版本

返回: 底座硬件版本

异常

arcs::common_interface::AuboException

Python函数原型: getPedestalHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getPedestalHardwareVersion() -> number

Lua示例: PedestalHardwareVersion = getPedestalHardwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1007000}

◆ getPedestalUniqueId()

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

获取底座全球唯一ID

返回: 底座全球唯一ID

异常

arcs::common_interface::AuboException

Python函数原型: getPedestalUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua函数原型: getPedestalUniqueId() -> string

Lua示例: PedestalUniqueId = getPedestalUniqueId()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"205257533543065248544339"}

◆ getRobotCurrent()

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

获取机器人电流

返回: 机器人电流

异常

arcs::common_interface::AuboException

Python函数原型: getRobotCurrent(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getRobotCurrent() -> number

Lua示例: RobotCurrent = getRobotCurrent()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0.3204345703125}

◆ getRobotModeType()

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

获取机器人的模式状态

返回: 机器人的模式状态

异常

arcs::common_interface::AuboException

Python函数原型: getRobotModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::RobotModeType

Lua函数原型: getRobotModeType() -> number

Lua示例: RobotModeType = getRobotModeType()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"Running"}

◆ getRobotVoltage()

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

获取机器人电压

返回: 机器人电压

异常

arcs::common_interface::AuboException

Python函数原型: getRobotVoltage(self: pyaubo_sdk.RobotState) -> float

Lua函数原型: getRobotVoltage() -> number

Lua示例: RobotVoltage = getRobotVoltage()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":52.75}

◆ getSafetyModeType()

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

获取安全模式

返回: 安全模式

异常

arcs::common_interface::AuboException

Python函数原型: getSafetyModeType(self: pyaubo_sdk.RobotState) -> arcs::common_interface::SafetyModeType

Lua函数原型: getSafetyModeType() -> number

Lua示例: SafetyModeType = getSafetyModeType()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"Normal"}

◆ getSlaveBoardFirmwareVersion()

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

获取SlaveBoard固件版本

返回: SlaveBoard固件版本

异常

arcs::common_interface::AuboException

Python函数原型: getSlaveBoardFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getSlaveBoardFirmwareVersion() -> number

Lua示例: SlaveBoardFirmwareVersion = getSlaveBoardFirmwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ getSlaveBoardHardwareVersion()

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

获取SlaveBoard硬件版本

返回: SlaveBoard硬件版本

异常

arcs::common_interface::AuboException

Python函数原型: getSlaveBoardHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getSlaveBoardHardwareVersion() -> number

Lua示例: SlaveBoardHardwareVersion = getSlaveBoardHardwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":6030098}

◆ getSlaveBoardUniqueId()

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

获取SlaveBoard全球唯一ID

返回: SlaveBoard全球唯一ID

异常

arcs::common_interface::AuboException

Python函数原型: getSlaveBoardUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua函数原型: getSlaveBoardUniqueId() -> string

Lua示例: SlaveBoardUniqueId = getSlaveBoardUniqueId()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"736572630080000000000000"}

◆ getSlowDownLevel()

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

获取机器人缓速等级

返回: 机器人缓速等级

异常

arcs::common_interface::AuboException

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ getTargetTcpPose()

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

获取下一个目标路点注意与 getTcpTargetPose 的区别，此处定义存在歧义，命名需要优化

位姿表示形式为(x,y,z,rx,ry,rz)。其中x、y、z是工具中心点（TCP）在基坐标系下的目标位置，单位是m。 rx、ry、rz是工具中心点（TCP）在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。

返回: 当前目标位姿,形式为(x,y,z,rx,ry,rz)

异常

arcs::common_interface::AuboException

Python函数原型: getTargetTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTargetTcpPose() -> table

Lua示例: TargetTcpPose = getTargetTcpPose()

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

JSON-RPC响应示例: {"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 ( )

获取TCP的力/力矩

返回: TCP的力/力矩

Python函数原型: getTcpForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpForce() -> table

Lua示例: TcpForce = getTcpForce()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForce","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取TCP力传感器读数

返回: TCP力传感器读数

异常

arcs::common_interface::AuboException

Python函数原型: getTcpForceSensors(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpForceSensors() -> table

Lua示例: TcpForceSensors = getTcpForceSensors()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensors","params":[],"id":1}

JSON-RPC响应示例: {"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 )

获取末端力传感器通信状态

参数

name	力传感器名称，与 selectTcpForceSensor 的参数一致

返回: 通信正常返回 true; 反之返回 false

异常

arcs::common_interface::AuboException

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpForceSensorStatus","params":["tool.KWR75A"],"id":1}

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":0}

◆ getTcpPose()

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

获取当前的TCP位姿，其 TCP 偏移可以通过 getActualTcpOffset 获取

位姿表示形式为(x,y,z,rx,ry,rz)。其中x、y、z是工具中心点（TCP）在基坐标系下的位置，单位是m。 rx、ry、rz是工具中心点（TCP）在基坐标系下的姿态，是ZYX欧拉角，单位是rad。

返回: TCP的位姿,形式为(x,y,z,rx,ry,rz)

异常

arcs::common_interface::AuboException

Python函数原型: getTcpPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpPose() -> table

Lua示例: TcpPose = getTcpPose()

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

JSON-RPC响应示例: {"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 ( )

获取TCP速度

返回: TCP速度

异常

arcs::common_interface::AuboException

Python函数原型: getTcpSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpSpeed() -> table

Lua示例: TcpSpeed = getTcpSpeed()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpSpeed","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取TCP目标力/力矩

返回: TCP目标力/力矩

异常

arcs::common_interface::AuboException

Python函数原型: getTcpTargetForce(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpTargetForce() -> table

Lua示例: TcpTargetForce = getTcpTargetForce()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetForce","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取上一次发送的TCP目标位姿

返回: TCP目标位姿

异常

arcs::common_interface::AuboException

Python函数原型: getTcpTargetPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpTargetPose() -> table

Lua示例: TcpTargetPose = getTcpTargetPose()

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

JSON-RPC响应示例: {"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 ( )

获取TCP目标速度

返回: TCP目标速度

异常

arcs::common_interface::AuboException

Python函数原型: getTcpTargetSpeed(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getTcpTargetSpeed() -> table

Lua示例: TcpTargetSpeed = getTcpTargetSpeed()

JSON-RPC请求示例: {"jsonrpc":"2.0","method":"rob1.RobotState.getTcpTargetSpeed","params":[],"id":1}

JSON-RPC响应示例: {"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 ( )

获取末端通信模式

返回: 末端通信模式 0: 表示无串口 1: 表示只有串口 2: 表示带力传感器和串口

异常

arcs::common_interface::AuboException

Python函数原型: getToolCommMode(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getToolCommMode() -> number

Lua示例: ToolCommMode = getToolCommMode()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1}

◆ getToolFirmwareVersion()

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

获取工具端固件版本

返回: 工具端固件版本

异常

arcs::common_interface::AuboException

Python函数原型: getToolFirmwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getToolFirmwareVersion() -> number

Lua示例: ToolFirmwareVersion = getToolFirmwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1001003}

◆ getToolHardwareVersion()

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

获取工具端硬件版本

返回: 工具端硬件版本

异常

arcs::common_interface::AuboException

Python函数原型: getToolHardwareVersion(self: pyaubo_sdk.RobotState) -> int

Lua函数原型: getToolHardwareVersion() -> number

Lua示例: ToolHardwareVersion = getToolHardwareVersion()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":1000000}

◆ getToolPose()

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

获取工具端的位姿（不带TCP偏移）

位姿表示形式为(x,y,z,rx,ry,rz)。其中x、y、z是法兰盘中心在基坐标系下的目标位置，单位是m。 rx、ry、rz是法兰盘中心在基坐标系下的目标姿态，是ZYX欧拉角，单位是rad。

返回: 工具端的位姿,形式为(x,y,z,rx,ry,rz)

异常

arcs::common_interface::AuboException

Python函数原型: getToolPose(self: pyaubo_sdk.RobotState) -> List[float]

Lua函数原型: getToolPose() -> table

Lua示例: ToolPose = getToolPose()

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

JSON-RPC响应示例: {"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 ( )

获取工具端全球唯一ID

返回: 工具端全球唯一ID

异常

arcs::common_interface::AuboException

Python函数原型: getToolUniqueId(self: pyaubo_sdk.RobotState) -> str

Lua函数原型: getToolUniqueId() -> string

Lua示例: ToolUniqueId = getToolUniqueId()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":"397d4e5331541252314d3042"}

◆ isCollisionOccurred()

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

机器人是否发生了碰撞

返回: 发生碰撞返回 true; 反之返回 false

异常

arcs::common_interface::AuboException

Lua函数原型: isCollisionOccurred() -> boolean

Lua示例: CollisionOccurred = isCollisionOccurred()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":false}

◆ isPowerOn()

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

获取机器人通电状态

返回: 机器人通电返回 true; 反之返回 false

异常

arcs::common_interface::AuboException

Lua函数原型: isPowerOn() -> boolean

Lua示例: PowerOn = isPowerOn()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

◆ isSteady()

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

机器人是否已经停止下来

返回: 停止返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isSteady(self: pyaubo_sdk.RobotState) -> bool

Lua函数原型: isSteady() -> boolean

Lua示例: Steady = isSteady()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

◆ isTeachPendantEnabled()

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

获取示教器是否已启用指示教器使能按钮是否处于按下状态

返回: 按下示教器使能按钮返回 false; 反之返回 true

异常

arcs::common_interface::AuboException

Python函数原型: isTeachPendantEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua函数原型: isTeachPendantEnabled() -> boolean

Lua示例: TeachPendantEnabled = isTeachPendantEnabled()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

◆ isToolFlangeEnabled()

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

获取机械臂末端是否已启用

返回: 无末端返回 false; 有末端返回 true

异常

arcs::common_interface::AuboException

Python函数原型: isToolFlangeEnabled(self: pyaubo_sdk.RobotState) -> bool

Lua函数原型: isToolFlangeEnabled() -> boolean

Lua示例: toolEnabled = isToolFlangeEnabled()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}

◆ isWithinSafetyLimits()

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

机器人是否已经在安全限制之内

返回: 在安全限制之内返回true; 反之返回false

异常

arcs::common_interface::AuboException

Python函数原型: isWithinSafetyLimits(self: pyaubo_sdk.RobotState) -> bool

Lua函数原型: isWithinSafetyLimits() -> boolean

Lua示例: WithinSafetyLimits = isWithinSafetyLimits()

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

JSON-RPC响应示例: {"id":1,"jsonrpc":"2.0","result":true}