Queries

Requests with a reply, immediate, returning None when no reply arrives in the client's timeout (the TCP queries raise instead, see Configuration). Status and waiting in the guide.

ping

rbt.ping() -> PingResult | None

Return parsed ping result with hardware_connected status.

rbt.ping()

angles

rbt.angles() -> list[float] | None

Current joint angles in degrees [J1, J2, J3, J4, J5, J6].

angles = rbt.angles()

pose

rbt.pose(frame: str = 'WRF') -> list[float] | None

Current TCP pose as [x, y, z, rx, ry, rz] in mm and degrees.

pose = rbt.pose()

joint_speeds

rbt.joint_speeds() -> list[float] | None

Current joint velocities in deg/s [J1, J2, J3, J4, J5, J6], the units of StatusBuffer.speeds.

speeds = rbt.joint_speeds()

tcp_speed

rbt.tcp_speed() -> float | None

TCP linear velocity in mm/s.

speed = rbt.tcp_speed()

io

rbt.io(*, timeout: float | None = None) -> list[int] | None

Digital I/O status [in1, in2, out1, out2, estop].

timeout bounds setup, retries, and the reply; None uses client defaults.

io = rbt.io()

status

rbt.status() -> StatusSnapshot | None

Aggregate status snapshot (pose, angles, speeds, io, tool_status). Its tool_status is always a ToolStatus, key "NONE" when no tool is fitted.

status = rbt.status()

activity

rbt.activity() -> ActivityResult | None

What the robot is currently doing.

Returns state (idle/executing/error), current command name, parameters, and error description if applicable.

act = rbt.activity()

queue

rbt.queue() -> list[str] | None

Queued command list.

queue = rbt.queue()

error

rbt.error() -> RobotError | None

Current error state, or None if no error.

err = rbt.error()

reachable

rbt.reachable() -> EnablementResultStruct | None

Remaining freedom of movement per joint/axis before hitting limits.

en = rbt.reachable()

is_estop_pressed

rbt.is_estop_pressed() -> bool

Check if E-stop is pressed. Returns True if pressed.

pressed = rbt.is_estop_pressed()

is_robot_stopped

rbt.is_robot_stopped(threshold_speed: float = 0.5) -> bool

Check if robot has stopped moving.

Prefer wait_command() for waiting on specific commands. This method polls raw joint speeds and is mainly useful for diagnostics or manual stopping logic.

stopped = rbt.is_robot_stopped()

Parameter	Meaning
threshold_speed	Speed threshold in deg/s

Returns: True if all joints below threshold

is_simulator

rbt.is_simulator() -> bool

Query whether simulator mode is active.

active = rbt.is_simulator()

tools

rbt.tools() -> ToolResult | None

Current tool and available tools.

tools = rbt.tools()

profile

rbt.profile() -> str | None

Current motion profile name.

profile = rbt.profile()

shapes

rbt.shapes()

The collision world the controller is currently enforcing, by layer.

Readback truth for displays; re-query when StatusBuffer.scene_epoch changes. Returns None if the controller is unreachable.

world = rbt.shapes()

execution_speed

rbt.execution_speed(*, timeout: float = 3.0) -> ExecutionSpeed

Read fresh requested, applied, and retained execution scales.

speed = rbt.execution_speed()

status_rate

rbt.status_rate() -> StatusRate | None

Current broadcast rate and the control rate it divides.

rate = rbt.status_rate()

loop_stats

rbt.loop_stats() -> LoopStatsResult | None

Fetch control-loop runtime metrics.

stats = rbt.loop_stats()

reset_loop_stats

rbt.reset_loop_stats() -> int

Reset control-loop min/max metrics and overrun count.

rbt.reset_loop_stats()

Properties

host (property)

rbt.host

No docstring.

port (property)

rbt.port

No docstring.

robot (property)

rbt.robot

The backend this client drives, built on first read when a bare client (what a user script constructs) supplied none.

tool (property)

rbt.tool

Active bound tool. Raises if no tool has been set.

Comments

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