get_current_pose()
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get_current_pose()
- 1 Minute to read
Article summary
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Retrieves the current pose of a specified 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). |
Return
| Type | Description |
|---|---|
dict | The 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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