get_state_of_arm()

get_state_of_arm()

Retrieve information about the current state of a specific arm.

Reference

Arguments

Return

Dict object with information about the arms' joints: their limits and their current positions, velocity, and effort.
See the example below for more information.

Exceptions

See the complete list of Raya Exceptions.

Examples

import json
...
self.arms = self.enable_controller('arms')
...
right_arm_state = self.arms.get_state_of_arm('right_arm')
print(json.dumps(right_arm_state, indent=2))
...

Output

{
  "name": [
    "arm_right_shoulder_FR_joint",
    "arm_right_shoulder_RL_joint",
    "arm_right_bicep_twist_joint",
    "arm_right_bicep_FR_joint",
    "arm_right_elbow_twist_joint",
    "arm_right_elbow_FR_joint",
    "arm_right_wrist_joint"
  ],
  "lower_limits": [
    "-1.57",
    "0.0",
    "-1.57",
    "-2.1",
    "-3.14159",
    "-1.5708",
    "-1.57"
  ],
  "upper_limits": [
    "1.57",
    "0.78",
    "1.57",
    "2.1",
    "3.14159",
    "1.5708",
    "1.57"
  ],
  "position": [
    0.0007359736482612789,
    3.945329808630049e-06,
    0.0003977831220254302,
    0.0006478230352513492,
    0.0021204533986747265,
    5.809607318951748e-05,
    -5.764562956755981e-06
  ],
  "velocity": [
    60.0,
    60.0,
    60.0,
    60.0,
    60.0,
    60.0,
    60.0
  ],
  "effort": [
    NaN,
    NaN,
    NaN,
    NaN,
    NaN,
    NaN,
    NaN
 ]
}