get_current_joints_position()
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get_current_joints_position()
- 1 Minute to read
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Retrieves the current joints position of a specific arm.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | The arm to retrieve the current pose for. | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | Unit for angles (DEGREES or RADIANS). |
| as_dict | bool | False | Change the output format of the method, review return section for more information. |
Return
| Type | Description |
|---|---|
dict | Retrieves the current joint positions If as_dict parameter is set in True the function returns a dict with each name as key and current position as value, otherwise returns a dict with two keys names and values, where the items are a list with the joints names and a list with the current joints position. |
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupName
See the complete list of arms exceptions
Usage example
as_dict parameter in False
import json
...
self.arms = self.enable_controller('arms')
...
current_joints_position = await self.arms.get_current_joints_position('right_arm')
print(json.dumps(current_joints_position, indent=2))
...
Output
{
"names": [
"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"
],
"values": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
]
}
as_dict parameter in True
import json
...
self.arms = self.enable_controller('arms')
...
current_joints_position = await self.arms.get_current_joints_position('right_arm', as_dict=True)
self.log.info(json.dumps(current_joints_position, indent=2))
...
Output:
{
"arm_right_shoulder_rail_joint": 0.0,
"arm_right_shoulder_FR_joint": 0.0,
"arm_right_shoulder_RL_joint": 0.0,
"arm_right_bicep_twist_joint": 0.0,
"arm_right_bicep_FR_joint": 0.0,
"arm_right_elbow_twist_joint": 0.0,
"arm_right_elbow_FR_joint": 0.0,
"arm_right_wrist_joint": 0.0
}
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