Status Data

Get Robot State

Get current robot state.

state = lebai:get_robot_state()

• Returns
  • Current robot state

JSON-RPC

// Request:
{ "jsonrpc": "2.0", "method": "get_robot_state", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"state": "IDLE"}, "id": 1 }

Get Emergency Stop Reason

Get the current emergency stop reason.

reason = lebai:get_estop_reason()

Status Code	Status	Description
0	None	No emergency stop
2	System	Software
3	Manual	Manual call to API
4	HardEstop	Hard emergency stop button
5	Collision	Collision
6	JointLimit	Joint limit
7	Exceed	Exceed speed
8	TrajectoryError	Trajectory error
11	CommError	Communication error
12	CanError	CAN communication error
13	JointError	Joint error

JSON-RPC

// Request:
{ "jsonrpc": "2.0", "method": "get_estop_reason", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"state": "NONE"}, "id": 1 }

Get Arm Motion Data

data = lebai:get_kin_data()

• Returns
  • actual_joint_pose Feedback joint position
  • actual_joint_speed Feedback joint velocity
  • actual_joint_acc Joint feedback acceleration
  • actual_joint_torque Joint feedback torque
  • target_joint_pose Planned joint position
  • target_joint_speed Planned joint velocity
  • target_joint_acc Joint planned acceleration
  • target_joint_torque Joint planned torque
  • actual_tcp_pose Feedback tool position
  • target_tcp_pose Planned tool position
  • actual_flange_pose Feedback flange position

JSON-RPC

// Request:
{ "jsonrpc": "2.0", "method": "get_kin_data", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"actual_joint_pose": [], "actual_tcp_pose": {}}, "id": 1 }

Get Arm Physical Data

data = lebai:get_phy_data()

• Returns
  • joint_temp Temperature of each joint
  • joint_voltage Voltage of each joint
  • flange_voltage Flange plate voltage

JSON-RPC

// Request:
{ "jsonrpc": "2.0", "method": "get_phy_data", "params": [{}], "id": 1 }
// Response:
{ "jsonrpc": "2.0", "result": {"joint_voltage": [48.0], "flange_voltage": 24.0}, "id": 1 }