Arms

1. Overview

This controller allows you to manipulate the robot arms.

2. Arms and Joints Arrangement

For example, Gary's arms are identified by the following names:

in order to get the list of available joints, please run `get_state_of_arm()` and read the name attribute of the retrieved Dictionary.

3. Using the Controller

Creating the controller in your app:

from raya.application_base import RayaApplicationBase

class RayaApplication(RayaApplicationBase):
    async def setup(self):
        ...
        self.arms = self.enable_controller('arms')
        ...

4. Full examples

The following full examples use this controller:

• Arms general example
• Open/Close gripper example
• Arms using a predefined pose
• Move arm using set position joints
• Move arm using set pose method