is_pose_valid_q()
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is_pose_valid_q()
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is_pose_valid_q()
Checks to see if the pose derived from the given arguments is valid for the specified arm. Uses the quaternion system.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| arm | str | Name of the arm to check. | |
| x | float | None | X-coordinate of the gripper relative to Gary's center. |
| y | float | None | Y-coordinate of the gripper relative to Gary's center. |
| z | float | None | Z-coordinate of the gripper relative to Gary's center. |
| qx | float | None | X of the quaternion that defines the orientantion of the gripper |
| qy | float | None | Y of the quaternion that defines the orientantion of the gripper |
| qz | float | None | Z of the quaternion that defines the orientantion of the gripper |
| qw | float | None | W of the quaternion that defines the orientantion of the gripper |
| callback_finish | function | None | Function to be called once pose is finished being checked. |
| wait | bool | False | If True, program will wait until gripper is finished being opened before continuing with other code. If False, program will continue running asynchronously. |
Callback Finish Arguments
| Argument | Type | |
|---|---|---|
| error | int | Code for the type of error encountered (0 if no error). |
| error_msg | str | Details regarding the error (empty if no error). |
| distance | float | Distance from the actual position of the gripper to the final pose. |
List of Errors
- FAILURE =255
- PLANNING FAILED =1
- INVALID MOTION PLAN =2
- MOTION PLAN INVALIDATED BY ENVIRONMENT CHANGE =3
- CONTROL FAILED =4
- UNABLE TO ACQUIRE SENSOR DATA =5
- TIMED OUT =6
- PREEMPTED =7
- START STATE IN COLLISION =10
- START STATE VIOLATES PATH CONSTRAINTS =11
- GOAL IN COLLISION =12
- GOAL VIOLATES PATH CONSTRAINTS =13
- GOAL CONSTRAINTS VIOLATED =14
- INVALID GROUP NAME =15
- INVALID GOAL CONSTRAINTS =16
- INVALID ROBOT STATE =17
- INVALID LINK NAME =18
- INVALID OBJECT NAME =19
- FRAME TRANSFORM FAILURE =21
- COLLISION CHECKING UNAVAILABLE =22
- ROBOT STATE STALE =23
- SENSOR INFO STALE =24
- COMMUNICATION FAILURE =25
- NO IK(Inverse Kinematics) SOLUTION =31
- INVALID NUMBER JOINTS =32
Return
None
Exceptions
| Exception | Condition |
|---|---|
RayaArmsException | Exception from arms method. |
RayaArmsControllerNotReady | Arms controller not yet ready. |
See the complete list of Raya Exceptions.
Examples
TODO this is an example for is_pose_valid(), not is_pose_valid_q(). We can:
- make a smaller, less comprehensive example in this page.
- make a bigger example similar to set_pose() in GitHub and link it here.
- Just use the is_pose_valid() example for this one as well.
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