Mobile arms · lift & base

3.6.8 Get Lift Platform State (Mobile Dual-Arm Version Only)

3.6.8.1 Request: request_lifter_state

  {
    "accid": "DACH_TRON2A_001",
    "title": "request_lifter_state",
    "guid": "6f5d2f3c27ac4ef89a4f2c31e8b7f402",
    "timestamp": 1762771201000,
    "data": {}
  }

3.6.8.2 Response: response_lifter_state

  {
    "accid": "DACH_TRON2A_001",
    "title": "response_lifter_state",
    "guid": "6f5d2f3c27ac4ef89a4f2c31e8b7f402",
    "timestamp": 1762771201000,
    "data": {
      "result": "success",
      "q": [0.12],
      "v": [0.00]
    }
  }

3.6.9 Absolute Position Control of the Lift Platform (Mobile Dual-Arm Version Only)

3.6.9.1 Request: request_set_lifter_position

• position: target position, in millimeters.
• duration: time to reach the target, in milliseconds. This value must be an integer. A value of 0 commands the platform to reach the target at the maximum available speed.

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_lifter_position",
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
  "timestamp": 1762771300000,
  "data": {
    "position": 200.5,
    "duration": 2000
  }
}

3.6.9.2 Response: response_set_lifter_position

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_lifter_position",
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
  "timestamp": 1762771300000,
  "data": {
    "result": "success"
  }
}

3.6.10 Velocity Control of the Lift Platform (Mobile Dual-Arm Version Only)

3.6.10.1 Request: request_set_lifter_velocity

• velocity: lift-platform velocity, in millimeters per second. Positive and negative values indicate opposite directions.
• duration: duration of velocity control, in milliseconds. This value must be an integer greater than 0.

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_lifter_velocity",
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
  "timestamp": 1762771300000,
  "data": {
    "velocity": 50,
    "duration": 2000
  }
}

3.6.10.2 Response: response_set_lifter_velocity

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_lifter_velocity",
  "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101",
  "timestamp": 1762771300000,
  "data": {
    "result": "success"
  }
}

3.6.11 Get Chassis State (Mobile Dual-Arm Version Only)

3.6.11.1 Request: request_chassis_state

{
  "accid": "DACH_TRON2A_001",
  "title": "request_chassis_state",
  "guid": "b6d6f4d2-6f0f-4f0b-8d8e-8f2f3a5a1c01",
  "timestamp": 1762771200000,
  "data": {}
}

3.6.11.2 Response: response_chassis_state

{
  "accid": "DACH_TRON2A_001",
  "title": "response_chassis_state",
  "guid": "b6d6f4d2-6f0f-4f0b-8d8e-8f2f3a5a1c01",
  "timestamp": 1762771200000,
  "data": {
    "result": "success",
    "data": [0.25, -0.10, 0.03]
  }
}

The data array is ordered as [linear_velocity, angular_velocity, steering_angle].

3.6.12 Set Chassis Motion Mode (Mobile Dual-Arm Version Only)

3.6.12.1 Request: request_set_chassis_mode

{
  "accid": "DACH_TRON2A_001",
  "title": "request_set_chassis_mode",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "move_mode": "ackerman"
  }
}

Supported values for move_mode are ackerman, parallel, park, spinning, and emergency_stop.

3.6.12.2 Response: response_set_chassis_mode

{
  "accid": "DACH_TRON2A_001",
  "title": "response_set_chassis_mode",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"
  }
}

3.6.13 Control Chassis Motion (Mobile Dual-Arm Version Only)

3.6.13.1 Request: request_chassis_move

{
  "accid": "DACH_TRON2A_001",
  "title": "request_chassis_move",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "x": 0.3,
    "y": 0.0,
    "yaw": 0.0
  }
}

• x: longitudinal velocity command in the range [-1, 1].
• y: lateral velocity command in the range [-1, 1].
• yaw: yaw-rate command in the range [-1, 1].

3.6.13.2 Response: response_chassis_move

{
  "accid": "DACH_TRON2A_001",
  "title": "response_chassis_move",
  "timestamp": 1672373633989,
  "guid": "746d937cd8094f6a98c9577aaf213d98",
  "data": {
    "result": "success"
  }
}

Possible values for result include success, fail_imu, and fail_motor.

Additional lift-position query · Chinese definition

3.6.14 查询升降台当前位置（仅适用于移动版双臂）

3.6.14.1 请求：request_get_lifter_position

{ 
"accid": "DACH_TRON2A_001",
 "title": "request_get_lifter_position", 
 "guid": "8b9d7caa48d44b9b9e0d6b2f2b30a101", 
 "timestamp": 1762771300000, 
 "data": {
 } 
}

3.6.14.2 响应:response_get_lifter_position

{ "accid": "DACH_TRON2A_001", 
"title": "response_get_lifter_position", 
"guid": "...",
 "timestamp": 1762771300000,
  "data": { 
  "result": "success", 
  "position": 200.3, 
  "q": -254.4, 
  "q_per_mm": 0.6224, 
  "timestamp": 1762771300000 
  } 
}