Status and data commands

The commands that read the robot: joint angles, the tool's pose, its status, latched errors, the health of every part, its hardware and versions, and whether a pose can be reached.

• The get_ commands ask the robot and wait for its answer.
• latest_status() and errors() ask nothing: they read the status the robot last sent. Every field is in the Status fields reference.

Command	What it does	Runs
get_joints	Return the measured joint angles, in degrees.	At once
get_pose	Return the measured pose of the tool centre point.	At once
latest_status	Return the latest status the robot sent, without asking it.	In the client
get_status	Ask the robot for its state now, with the joint angles.	At once
errors	Return the errors and warnings latched on the robot.	In the client
is_reachable	Check whether the arm can reach a pose, without moving it.	At once
get_health	Return the robot's health summary, one level per part.	At once
get_hardware	Return what the drives, the CAN bus and the control box report.	At once
get_versions	Return the version of every part of the robot.	At once

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