get_actual_joint_pose
Retrieve current joint angles from Universal Robots by specifying the robot's IP address to monitor robotic arm positioning and movement status.
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
- Handler function decorated with @mcp.tool(), implementing the tool logic by checking connection and retrieving current joint positions via robot_list[ip].get_actual_joint_positions().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。") logger.info(f"当前关节姿态 {robot_list[ip].get_actual_joint_positions()}") 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)}")
- src/nonead_universal_robots_mcp/server.py:373-373 (registration)The @mcp.tool() decorator registers this function as an MCP tool.def get_actual_joint_pose(ip: str):