Telemetry tags¶
A telemetry recipe lists the tags the robot sends in each state packet. Each tag below is one value or one value per
joint; Decimals is how many decimal places it is sent with unless the recipe says otherwise. Values marked RAW
are the measured signals; their filtered twins end in _f.
This page is generated from the runtime's tag table at the release this documentation describes.
Joints, TCP and the loop¶
| Tag | Meaning | Decimals |
|---|---|---|
j_p |
joint positions (rad) | 4 |
j_s |
joint speeds (rad/s) — RAW | 3 |
j_t |
joint torques (Nm) — RAW | 3 |
j_a |
joint accelerations (rad/s²) — RAW | 3 |
j_j |
joint jerks (rad/s³) — RAW | 3 |
j_s_f |
joint speeds, filtered (rad/s) | 3 |
j_t_f |
joint torques, filtered (Nm) | 3 |
j_a_f |
joint accelerations, filtered (rad/s²) | 3 |
j_j_f |
joint jerks, filtered (rad/s³) | 3 |
j_pc |
commanded joint positions (rad) | 4 |
j_sc |
commanded joint speeds (rad/s) | 3 |
j_ac |
commanded joint accelerations (rad/s²) | 3 |
j_tc |
commanded joint torques (Nm) | 3 |
j_pt |
target joint positions (rad) | 4 |
j_st |
target joint speeds (rad/s) | 3 |
j_at |
target joint accelerations (rad/s²) | 3 |
j_tt |
target joint torques (Nm) | 3 |
j_t_inertia |
inertia feedforward M(q)·qdd added (Nm; 0 when off) | 3 |
j_t_coriolis |
Coriolis feedforward C(q, qd)·qd added (Nm; 0 when off) | 3 |
j_err |
joint error flags | 0 |
TCP_p |
TCP pose [x,y,z,rx,ry,rz] (m, rad) | 4 |
TCP_p_SE3 |
TCP pose as flattened 4x4 SE(3) matrix, row-major (16 values) | 6 |
TCP_p_quat |
TCP orientation as unit quaternion [w,x,y,z] — SCALAR FIRST, w>=0 (4 values) | 6 |
TCP_s |
TCP speed (m/s, rad/s) — RAW, world frame | 3 |
TCP_s_f |
TCP speed, filtered (m/s, rad/s) — world frame | 3 |
TCP_a |
TCP acceleration (m/s², rad/s²) — RAW, world frame | 3 |
TCP_a_f |
TCP acceleration, filtered — world frame | 3 |
TCP_p_c |
commanded TCP pose | 4 |
TCP_s_c |
commanded TCP speed | 3 |
TCP_p_t |
target TCP pose | 4 |
TCP_s_t |
target TCP speed | 3 |
t_ext |
external joint torques (Nm) | 3 |
TCP_f_ext |
external TCP wrench (N, Nm) — WORLD frame | 3 |
TCP_f_ext_tool |
external TCP wrench (N, Nm) — TOOL frame | 3 |
timestamp |
loop timestamp (s) | 6 |
exec_t |
loop execution time (s) | 6 |
tick |
RTI loop tick counter | 0 |
rti_seq |
last RTI command seq the robot accepted (echo) | 0 |
rti_ok |
RTI control_command_success_rate (0-1) | 3 |
rti_miss |
RTI consecutive ticks with no command | 0 |
rti_state |
RTI sub-state (0 unpaired..4 stopping_error) | 0 |
mode |
global RobotMode name | 0 |
period_ms |
measured loop period of this tick (ms) | 3 |
can_read_t |
when this tick's CAN read ran (time.time(), s) | 6 |
Joint drives¶
| Tag | Meaning | Decimals |
|---|---|---|
m_p |
raw motor positions (encoder ticks) | 0 |
m_s |
raw motor speeds (encoder ticks/s) | 0 |
m_c |
raw motor currents (mA) | 0 |
m_temp |
motor temperatures (°C) | 1 |
m_volt |
motor voltages (raw int from CAN) | 0 |
m_t_err |
motor temperature error flag | 0 |
m_enc_err |
motor encoder error flag | 0 |
m_vbus_err |
motor VBUS (voltage rail) error flag | 0 |
m_d_err |
motor driver error flag | 0 |
m_vel_err |
motor velocity error flag | 0 |
m_c_err |
motor current error flag | 0 |
m_estop_err |
motor estop error flag | 0 |
m_w_err |
motor watchdog error flag | 0 |
m_cal |
motor calibrated flag | 0 |
Joint drive settings¶
| Tag | Meaning | Decimals |
|---|---|---|
m_KPP |
motor position-loop P gain (per joint) | 3 |
m_KPV |
motor velocity-loop P gain | 3 |
m_KIV |
motor velocity-loop I gain | 3 |
m_KPIQ |
motor current-loop P gain (Iq) | 3 |
m_KIIQ |
motor current-loop I gain (Iq) | 3 |
m_KP |
motor PD-mode P gain | 3 |
m_KD |
motor PD-mode D gain | 3 |
m_Ilim |
motor current limit (mA) | 0 |
m_vel_lim |
motor velocity limit (raw int) | 0 |
Gripper¶
| Tag | Meaning | Decimals |
|---|---|---|
g_p |
gripper position (m) | 3 |
g_c |
gripper current (mA) | 2 |
g_activated |
gripper activated flag | 0 |
g_action |
gripper action status | 0 |
g_obj |
gripper object detection | 0 |
g_err |
gripper error flag | 0 |
g_jp |
gripper joint position (m) | 4 |
g_js |
gripper joint speed (m/s) | 3 |
g_jf |
gripper joint force (N) | 3 |
Gripper drive¶
| Tag | Meaning | Decimals |
|---|---|---|
gm_p |
raw gripper motor position (encoder ticks, motor-mode only) | 0 |
gm_s |
raw gripper motor speed (encoder ticks/s, motor-mode only) | 0 |
gm_c |
raw gripper motor current (mA) | 0 |
gm_temp |
gripper motor temperature (°C) | 1 |
gm_volt |
gripper motor voltage (raw int from CAN) | 0 |
gm_t_err |
gripper motor temperature error flag | 0 |
gm_enc_err |
gripper motor encoder error flag | 0 |
gm_vbus_err |
gripper motor VBUS (voltage rail) error flag | 0 |
gm_d_err |
gripper motor driver error flag | 0 |
gm_vel_err |
gripper motor velocity error flag | 0 |
gm_c_err |
gripper motor current error flag | 0 |
gm_estop_err |
gripper motor estop error flag | 0 |
gm_w_err |
gripper motor watchdog error flag | 0 |
gm_cal |
gripper motor calibrated flag | 0 |
Gripper drive settings¶
| Tag | Meaning | Decimals |
|---|---|---|
g_KPP |
gripper position-loop P gain | 3 |
g_KPV |
gripper velocity-loop P gain | 3 |
g_KIV |
gripper velocity-loop I gain | 3 |
g_KPIQ |
gripper current-loop P gain (Iq) | 3 |
g_KIIQ |
gripper current-loop I gain (Iq) | 3 |
g_KP |
gripper PD-mode P gain | 3 |
g_KD |
gripper PD-mode D gain | 3 |
g_Ilim |
gripper current limit (mA) | 0 |
g_vel_lim |
gripper velocity limit (raw int) | 0 |
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