place_object_with_reference()

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Places the currently held object at a specified distance from a reference object.

Reference

Arguments	Type	Default value
detector_model	str		Name of the detection model that will be used to recognize and localize the reference object.
source	str		Name of the camera that will be sourced to recognize the target object.
object_name	str		Name of the reference, as recognizable by the detection model.
height_object	float		Height of the object to place, in meters.
arm	str		Arm to execute place
distance	float		Distance to place the object from the reference object, in meters.
callback_feedback	function	None	Function to be called throughout the placement procedure.
callback_finish	function	None	Function to be called once object is placed.
wait	bool	False	If true, program will wait until object is placed before continuing with other code. If false, program will continue running asynchronously.

Argument	Type
state	str	Information about progress of object placement procedure.

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).

None

Exception	Condition
`RayaNotMoving`	Grasping already in execution.

See the Grasping Place Object With Reference Example to see how to place an object with a reference.

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