Is Pose Within Safety Limits
SUMMARY
Is Pose Within Safety Limits checks a given Cartesian pose [x, y, z, rx, ry, rz] against the robot's active safety configuration and returns True if the pose is reachable within the safety boundaries.
SUPPORTED ROBOTS
Currently supported only on Universal Robots.
UNITS
Input pose is [x, y, z, rx, ry, rz] in meters and Euler XYZ degrees. Returns a boolean.
The Skill
python
within_limits = robot.is_pose_within_safety_limits(pose)The Code
Example: Check Whether a Target Pose Is Within Safety Limits
Verify that a target pose is safe before commanding motion.
python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
pose = [0.5, 0.0, 0.5, 0.0, 0.0, 0.0]
within_limits = robot.is_pose_within_safety_limits(pose)
logger.success(f"Is pose within safety limits: {within_limits}")
# Disconnect
robot.disconnect()The Explanation of the Code
is_pose_within_safety_limits queries the robot controller to check whether the given Cartesian pose falls within the active safety planes and workspace limits. This is a pre-flight check - use it before commanding motion to a new pose to catch out-of-bounds targets before they cause a protective stop.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
pose | list[float] | - | Target pose [x, y, z, rx, ry, rz] to check. Position in meters, orientation in degrees. |
Return Value
| Field | Type | Description |
|---|---|---|
within_limits | bool | True if the pose is within safety limits, False otherwise. |
Where to Use the Skill
- Pre-motion validation for dynamically computed targets (e.g., vision-guided grasps) to catch unsafe poses before issuing the move command.
When Not to Use the Skill
Use a different skill when:
- You have a joint-space target instead of a Cartesian pose - use Is Joints Within Safety Limits instead.