Status fields¶

The fields of the status buffer the controller broadcasts, as stream_status() yields it and status() summarises it, from the source at v0.9.1. Arrays are numpy arrays.

Field	Type
`session_id`	`int`
`seq`	`int`
`mono_time_ns`	`int`
`pose`	`np.ndarray`
`angles`	`np.ndarray`
`speeds`	`np.ndarray`
`io`	`np.ndarray`
`tool_status`	`ToolStatus`
`joint_en`	`np.ndarray`
`cart_en_wrf`	`np.ndarray`
`cart_en_trf`	`np.ndarray`
`action_current`	`str`
`action_params`	`str`
`action_state`	`ActionState`
`executing_index`	`int`
`completed_index`	`int`
`last_checkpoint`	`str`
`error`	`RobotError \\| None`
`queued_segments`	`int`
`queued_duration`	`float`
`tcp_speed`	`float`
`simulator_active`	`bool`
`collision_active`	`bool`
`collision_pairs`	`list[tuple[str, str]]`
`scene_epoch`	`int`
`accepted_index`	`int`
`homed`	`bool`
`enabled`	`bool`
`torques`	`np.ndarray`
`torques_ext`	`np.ndarray`
`warnings`	`list[tuple]`
`link_health`	`dict`
`drive_health`	`dict`
`loop_health`	`dict`
`homing`	`dict`
`cart_en`	`dict[str, np.ndarray]`

Meaning¶

Field	Meaning
`session_id`, `seq`, `mono_time_ns`	The status publisher's lifetime (changes on restart), a sequence number (gaps mean missed broadcasts), and the monotonic time of the controller's snapshot
`pose`	The tool pose as a 4×4 matrix, flattened (16 values), in the WRF
`angles`, `speeds`	Joint angles in degrees and speeds in deg/s, J1 to J6
`io`	`[in1, in2, out1, out2, estop]`
`tool_status`	The selected tool's `ToolStatus`; key `NONE` when no tool is fitted
`joint_en`, `cart_en_wrf`, `cart_en_trf`, `cart_en`	Enablement: whether each joint, and each Cartesian axis in each frame, can still move in the positive and negative direction (12 values: six axes, two directions)
`action_current`, `action_params`, `action_state`	What the controller is executing, its parameters, and the state: idle, executing, error
`executing_index`, `completed_index`, `accepted_index`	The index of the command running, the highest completed, and the latest accepted
`last_checkpoint`	The label of the last checkpoint reached
`error`	The current `RobotError`, or `None`
`queued_segments`, `queued_duration`	How much motion is queued, in segments and in seconds of estimated duration (tool actions included)
`tcp_speed`	The tool's linear speed in mm/s
`simulator_active`	Simulator mode
`collision_active`, `collision_pairs`	Whether the collision checker is on, and the pairs it currently reports
`scene_epoch`	Changes when the collision world changes: re-query `shapes()`
`homed`, `enabled`	Whether the robot is referenced, and whether motion is enabled
`torques`, `torques_ext`	Reserved for arms with torque sensing; zero on PAROL6
`warnings`, `link_health`, `drive_health`, `loop_health`	Diagnostics: warnings, the serial link, the drives, the control loop timing
`homing`	The progress of a homing sequence

The buffer's freedrive property is always false: PAROL6's steppers cannot be back-driven. mode is an alias of action_state.

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