get_current_joint_position()
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get_current_joint_position()
- 1 Minute to read
Article summary
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Retrieve the current joint position of a specific arm.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | the arm to retrieve the current pose for | |
| joint | str | Name of the joint | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | unit for angles (DEGREES or RADIANS) |
Return
| Type | Description |
|---|---|
Float | the current joint position. |
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsInvalidJointName
See the complete list of arms exceptions
Usage example
import json
...
self.arms = self.enable_controller('arms')
...
current_joint_position = await self.arms.get_current_joint_position(arm='right_arm', joint='arm_right_shoulder_rail_joint')
self.log.info(current_joint_position)
...
Output:
0.0
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