get_current_pose()
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get_current_pose()


Article Summary

Retrieves the current pose of a specified arm.

Reference

Arguments

ArgumentsTypeDefault valueDescription
armstrThe arm to retrieve the current pose for .
unitsANGLE_UNITANGLE_UNIT.DEGREESUnit for angles (DEGREES or RADIANS).

Return

TypeDescription
dictThe Keys are orientation a list with the representation in euler degrees (roll , pitch, yaw) in degrees or radians following the given units parameter and position a list with x, y, z values.

Exceptions

See the complete list of arms exceptions

Usage example

import json
...
self.arms = self.enable_controller('arms')
...
current_pose = await self.arms.get_current_pose('right_arm') 
self.log.info(json.dumps(current_pose, indent=2))

Output:

{
  "orientation": [
    90.0,
    90.0,
    0.0
  ],
  "position": [
    -0.004348154834847619,
    -0.2562139368347951,
    0.2880307131321761
  ]
}


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