Home Position

Quick Facts

Property	Value
Class	`CENPyOlpHomePosition`
Module	`cenpylib.CENPyOlpHomePosition`
Package	`cenpylib`
Release	R2025.2.4
Methods	5


# Boilerplate Example
homePosition = ...  # obtained from the runtime context
result = homePosition.GetName()

Method	Returns	Summary
`GetName`	`str`	Get name of the home position.
`GetCount`	`int`	Get the number of joints/positions in this Home Position
`GetJointAt`	`CENPyOlpJoint`	Get the joint at specified index
`GetPositionAt`	`float`	Gets the position of a joint at a specific index.
`GetPositionOf`	`float`	Gets the position of a given joint.


def GetName() -> str

Get name of the home position.

Returns: str — home position’s name


def GetCount() -> int

Get the number of joints/positions in this Home Position

Returns: int — Returns the number of joints/position in this Home Position


def GetJointAt(index: int) -> CENPyOlpJoint

Get the joint at specified index

Parameters:

Name	Type	Description
`index`	`int`	Index of the joint

Returns: CENPyOlpJoint — Returns the joint at the desired position


def GetPositionAt(index: int, isKinematicSpecific: bool) -> float

Gets the position of a joint at a specific index.

Parameters:

Name	Type	Description
`index`	`int`	the index of the joint to get the position from
`isKinematicSpecific`	`bool`	If No, the returned position is the mathematical value. If Yes, it is computed according to the resource’s kinematic conventions.

Returns: float — Returns the joint at the desired position computed according to the resource’s kinematic conventions.


def GetPositionOf(joint: CENPyOlpJoint, isKinematicSpecific: bool) -> float

Gets the position of a given joint.

Parameters:

Name	Type	Description
`joint`	`CENPyOlpJoint`	The joint whose position to get
`isKinematicSpecific`	`bool`	If No, the returned position is the mathematical value. If Yes, it is computed according to the resource’s kinematic conventions.

Returns: float — The position of a given joint.

This class is documented as of release R2025.2.4.

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