get_arm_state()
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get_arm_state()
- 1 Minute to read
Article summary
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Retrieve information about the current state of a specific arm.
Reference
Arguments
| Argument | Type | Description |
|---|---|---|
| arm | str | Name of the arm whose state will be returned. |
Return
| Type | Description |
|---|---|
Dict | Object with information about the arms' joints: their names, lower and upper limits and current value of the position, velocity, and effort. |
See the example below for more information.
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupName
See the complete list of arms exceptions
Usage example
import json
...
self.arms = self.enable_controller('arms')
...
right_arm_state = self.arms.get_arm_state('right_arm')
self.log.info(json.dumps(right_arm_state, indent=2))
...
Output:
{
"name": [
"arm_right_shoulder_rail_joint",
"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": [
"0.0",
"-1.57",
"0.0",
"-1.57",
"-2.1",
"-3.14159",
"-1.5708",
"-1.57"
],
"upper_limits": [
"0.0",
"1.57",
"0.78",
"1.57",
"2.1",
"3.14159",
"1.5708",
"1.57"
],
"position": [
0.0004575973648261278,
0.0007359736482612789,
3.945329808630049e-06,
0.0003977831220254302,
0.0006478230352513492,
0.0021204533986747265,
5.809607318951748e-05,
-5.764562956755981e-06
],
"velocity": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"effort": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
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