get_joints_limits()

Get the limits for each joint of a specific arm.

Reference

Arguments

Return

Exceptions

• RayaArmsException
• RayaArmsInvalidArmOrGroupName

See the complete list of arms exceptions

Usage example

Get the joints list of right arm

...
self.arms = self.enable_controller('arms')
...
limits = self.arms.get_joints_limits('right_arm')  
self.log.info('\t name\t\t\tlower limit\tupper_limit')
for joint_name in limits:
    self.log.info(
        f' {joint_name}\t{limits[joint_name][0]:.2f}\t'
        f'\t{limits[joint_name][1]:.2f}'
    )
...

Output:

name                                  lower limit   upper_limit
arm_right_shoulder_rail_joint            0.00            0.40
arm_right_shoulder_FR_joint             -131.78         131.78
arm_right_shoulder_RL_joint               0.00          179.91
arm_right_bicep_twist_joint              -89.95         89.95
arm_right_bicep_FR_joint                -120.32        120.32
arm_right_elbow_twist_joint             -180.00        180.00
arm_right_elbow_FR_joint                 -90.00         90.00
arm_right_wrist_joint                    -89.95         89.95