get_joint_type()
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get_joint_type()
- 1 Minute to read
Article summary
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Get the type of a joint in a given arm on the current robotic device.
Reference
Arguments
| Arguments | Type | Description |
|---|---|---|
| arm | str | Name of the arm. |
| joint | str | Name of the joint. |
Return
| Type | Description |
|---|---|
ARMS_JOINT_TYPE | enumeration value of the joint type. |
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsInvalidJointName
See the complete list of arms exceptions
Usage example
...
self.arms = self.enable_controller('arms')
...
joint_type = self.arms.get_joint_type('left_arm' , 'arm_left_shoulder_rail_joint')
self.log.info(joint_type)
...
Output:
ARMS_JOINT_TYPE.LINEAR
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