get_actual_joint_pose
Retrieve the current joint angles of a specified robotic arm by providing its IP address using the nUR MCP Server.
Instructions
获取指定IP机器人的当前关节角度 IP：机器人地址
Input Schema
TableJSON Schema
| Name | Required | Description | Default |
|---|---|---|---|
| ip | Yes |
Implementation Reference
- The main handler function for the 'get_actual_joint_pose' tool. It is registered via @mcp.tool() decorator. Checks robot connection, fetches current joint positions using URBasic API, formats and returns as JSON string.@mcp.tool() def get_actual_joint_pose(ip: str): """获取指定IP机器人的当前关节角度 IP：机器人地址""" try: if '连接失败' in link_check(ip): return return_msg(f"与机器人的连接已断开。") return return_msg(f"当前关节姿态 {robot_list[ip].get_actual_joint_positions()}") except Exception as e: logger.error(f"TCP位置获取失败: {str(e)}") return return_msg(f"TCP位置获取失败: {str(e)}")