get_limits_of_joints()

get_limits_of_joints()

Gets the minimum/maximum angles of each joint on a specific arm.

Reference

Arguments

Return

Dictionary with keys as the name of each joint , which saves a tuple with their lower and upper limits in the specified units.

Exceptions

See the complete list of Raya Exceptions.

Examples

import json
...
self.arms = self.enable_controller('arms')
...
left_arm_joint_limits = self.arms.get_limits_of_joints('left_arm')
print(json.dumps(left_arm_joint_limits, indent=2))
...

Output

{
  "arm_left_shoulder_FR_joint": [
    -89.95437383553924,
    89.95437383553924
  ],
  "arm_left_shoulder_RL_joint": [
    -44.69070802020421,
    0.0
  ],
  "arm_left_bicep_twist_joint": [
    -89.95437383553924,
    89.95437383553924
  ],
  "arm_left_bicep_FR_joint": [
    -120.32113697747289,
    120.32113697747289
  ],
  "arm_left_elbow_twist_joint": [
    -179.9998479605043,
    179.9998479605043
  ],
  "arm_left_elbow_FR_joint": [
    -90.00021045914971,
    90.00021045914971
  ],
  "arm_left_wrist_joint": [
    -89.95437383553924,
    89.95437383553924
  ]
}