Lebai Help

Status Data

Get Robot State

Get current robot state.

state = lebai:get_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 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 }