is_within_safety_limits(position, qNear=current joint configuration)

Checks if the given pose or joint positions are reachable and within the currently active safety limits of the robot.

This check considers:

  • Joint position limits

  • Safety planes

  • Tool orientation limit

  • Physical range of the robot

Parameters

position: Pose or joint positions. When a pose is provided, it is recommended to also supply qNear to ensure that the correct inverse kinematics solution is checked.

qNear: List of joint angles (optional). Only used for calculating inverse kinematics when position is a pose. If not specified, the current joint positions are used.

Return Value

True if within limits, false otherwise (bool).

In order to simply check if a pose is physically reachable by the robot, use get_inverse_kin_has_solution instead.