Common Data Structures

AbcErrorCode

The AbcErrorCode class is a system-level error code enumeration that defines execution result statuses for the robotic system, including modules such as the robotic arm, head, torso, sensors, and algorithms.

Constant Member	Value	Description
`SUCCESS`	0	Success
`UNKNOWN_ERROR`	-1	Unknown error	General Errors
`TIMEOUT`	-2	Timeout
`INVALID_HANDLE`	-3	Invalid handle
`INVALID_STATE`	-4	Invalid state
`NOT_INITIALIZED`	-5	Not initialized
`NOT_IMPLEMENTED`	-6	Not implemented
`INVALID_ARGUMENT`	-7	Invalid argument
`PARAM_ERROR`	-50	Parameter error	Parameter Errors
`PARAM_OUT_OF_RANGE`	-51	Parameter value out of range	Parameter Errors
`ARM_ERROR`	-100	Robotic arm general error	Robotic Arm Errors
`ARM_CTRL_FALSE`	-101	Controller returned false; likely incorrect parameters or arm state error.
`ARM_DATA_SEND_FAILED`	-102	Failed to send data (communication error)
`ARM_DATA_RECEIVE_FAILED`	-103	Failed to receive data or controller timeout
`ARM_RETURN_DATA_ERR`	-104	Failed to parse returned data (invalid or incomplete format)
`ARM_CHECK_FAILED`	-105	Current position device check failed (e.g., not a joint)
`ARM_TIMEOUT`	-106	Timeout waiting for response
`ARM_OUT_OF_RANGE`	-107	Robotic arm motion out of range
`TORSO_ERROR`	-200	Torso general error	Torso Errors
`TORSO_CANBUS_ERROR`	-201	Torso CAN bus error
`TORSO_ACTUATOR_ERROR`	-202	Torso actuator error
`TORSO_TIMEOUT`	-206	Timeout waiting for response
`TORSO_OUT_OF_RANGE`	-207	Torso motion out of range
`HEAD_ERROR`	-220	Head general error	Head Errors
`HEAD_CANBUS_ERROR`	-221	Head CAN bus error
`HEAD_ACTUATOR_ERROR`	-222	Head actuator error
`HEAD_TIMEOUT`	-226	Timeout waiting for response
`HEAD_OUT_OF_RANGE`	-227	Head motion out of range
`SENSOR_ERROR`	-300	Sensor general error	Sensor Errors
`SENSOR_NOT_CONNECTED`	-301	Sensor not connected
`SENSOR_DATA_ERROR`	-302	Sensor data error
`CHASSIS_ERROR`	-400	Chassis general error	Chassis Errors
`CHASSIS_INIT_ERROR`	-401	Chassis initialization error
`CHASSIS_TIMEOUT`	-402	Timeout waiting for response
`ALGO_ERROR`	-900	Algorithm general error	Algorithm Errors
`ALGO_NOT_CONVERGED`	-901	Algorithm did not converge	Algorithm Errors

Pose

The Pose class represents a 3D pose (position and orientation).

Attributes

Attribute	Data Type	Description
`position`	Position	Position (3D coordinates: x, y, z)
`quaternion`	Quaternion	Orientation (rotation, represented as a quaternion: w, x, y, z)

Set Position

Method:

set_position(self, arg0: float, arg1: float, arg2: float) -> Pose

Parameters:

Parameter Description
arg0、arg1、arg2 XYZ-axis coordinate values
Return Value:

Returns self to support method chaining.

Parameter	Description
`arg0`、`arg1`、`arg2`	XYZ-axis coordinate values

Set Quaternion

Method:

set_quaternion(self, arg0: float, arg1: float, arg2: float, arg3: float) -> Pose

Parameters:

Parameter Description
arg0、arg1、arg2、arg3 w、x、y、z
Return Value:

Returns self to support method chaining.

Parameter	Description
`arg0`、`arg1`、`arg2`、`arg3`	w、x、y、z

Position

The Position class represents a position in 3D space.

Attribute	Data Type	Description
`x`、`y`、`z`	float	XYZ-axis coordinate values

Quaternion

The Quaternion class represents a quaternion.

Attribute	Data Type	Description
`w`、`x`、`y`、`z`	float	Quaternion (w、x、y、z)

Euler

The Euler class represents Euler angles.

Attribute	Data Type	Description
`rx`、`ry`、`rz`	float	Euler angles

ArmCurrentStatus

The ArmCurrentStatus class defines an enumeration of status codes representing the current state of the robotic arm.

Constant Member	Value	Description
`IDLE`	0	Enabled but idle state
`MOVE`	1	Moving state
`MOVE_THROUGH_JOINT`	2	Angle pass-through state
`MOVE_THROUGH_POSE`	3	Pose pass-through state
`MOVE_THROUGH_FORCE_POSE`	4	Force-Controlled pass-through state
`MOVE_THROUGH_CURRENT`	5	Current-loop pass-through state
`STOP`	6	Emergency stop state
`SLOW_STOP`	7	Slow stop state
`PAUSE`	8	Pause state
`CURRENT_DRAG`	9	Current-loop drag state
`SENSOR_DRAG`	10	6-DoF force drag state
`TECH_DEMONSTRATION`	11	Teaching state

AbcTorsoPose4D

The AbcTorsoPose4D class represents the torso pose.

Attribute	Data Type	Description
`height`	float	Vertical height, in meters (m).
`forward`	float	Front-back displacement, in meters (m).
`pitch`	float	Pitch angle, in radians (rad).
`yaw`	float	Waist rotation angle, in radians (rad).

SensorStatus

The SensorStatus class is an enumerator that defines the states of sensors.

Constant Member	Value	Description
`DISCONNECTED`	0	Disconnected
`CONNECTED`	1	Connected
`STREAMING`	2	Data streaming in progress
`SENSOR_ERROR`	3	Error state

SensorType

The SensorType class is an enumerator that defines sensor types.

Constant Member	Description
`CAMERA`	Camera sensor
`DEPTH_CAMERA`	Depth camera
`LIDAR`	LiDAR
`IMU`	Inertial Measurement Unit
`FORCE_TORQUE`	Force sensor
`PROXIMITY`	Proximity sensor
`OTHER`	Other types of sensors