Is Joints Within Safety Limits

SUMMARY

Is Joints Within Safety Limits checks a joint configuration vector against the robot's active safety configuration and returns True if all joints are within their permitted ranges.

UNITS

Input joint configuration q in degrees. Returns a boolean.

The Skill

within_limits = robot.is_joints_within_safety_limits(q)

The Code

Example: Check Whether a Joint Configuration Is Within Safety Limits

Verify that a computed joint configuration is safe before commanding motion.

"""
Checks joint limits, safety plane limits, and TCP orientation deviation limits for a joint configuration.

Supports Universal Robots (UR).

Usage:
    python is_joints_within_safety_limits.py [--ip <ROBOT_IP>]
"""

import argparse

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None) -> None:
    """Check the robot's current joint configuration against the controller's safety limits."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)

        # ==================== Run Skill ============================================
        current_joint_positions = robot.get_joint_positions()
        logger.success(
            f"is_joints_within_safety_limits({current_joint_positions}): "
            f"{robot.is_joints_within_safety_limits(current_joint_positions)}"
        )
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Check joint configuration against safety limits Synapse example")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    args = parser.parse_args()

    main(ip=args.ip)

Running the Example

Real

python is_joints_within_safety_limits.py --ip 192.168.1.100

For all options:

python is_joints_within_safety_limits.py --help

Parameter Configuration

Parameter	Type	Default	Description
q	list[float]	-	Joint configuration in degrees to check, one value per joint.

Returns

Field	Type	Description
within_limits	bool	True if all joints are within safety limits, False otherwise.

Raises

Exception	Condition
RuntimeError	The robot is not connected (connect() was not called, or the connection has been lost)
TypeError	q is not a list or np.ndarray

Where to Use the Skill

• Validate IK solutions before commanding motion.
• Pre-flight checks for joint-space waypoints in a trajectory.

When Not to Use the Skill

Use a different skill when:

• You have a Cartesian target instead of a joint configuration - use Is Pose Within Safety Limits instead.