set_pose()

Article summary

Did you find this summary helpful?

Thank you for your feedback

Sets the joints of one arm to the specified coordinates and rotations. Uses roll, pitch, and yaw to specify target pose.

Reference

Arguments	Type	Default value
arm	str		Name of the arm to move.
x	float	0.0	X-coordinate (in meters) of center of gripper relative to Gary's center
y	float	0.0	Y-coordinate (in meters) of center of gripper relative to Gary's center
z	float	0.0	Z-coordinate (in meters) of center of gripper relative to Gary's center
roll	float	0.0	Roll relative to default position of arm
pitch	float	0.0	Pitch relative to default position of arm
yaw	float	0.0	Yaw relative to default position of arm
units	enum	`ANG_UNIT.DEG`	Unit of measure for roll, pitch, and yaw. Degrees or radians.
cartesian_path	bool	`False`	If this option is `True` the arm is going to try to reach the desired pose in a straight line trajectory
callback_feedback	function	None	Function to be called while the pose is being set.
callback_finish	function	None	Function to be called once pose is finished being set.
wait	bool	`False`	If `True`, program will wait until pose is finished being set before continuing with other code. If `False`, program will continue running asynchronously.

Argument	Type
arm	str	Name of the arm.
percentage	float	Percent of movement completed until target pose is reached.

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
`RayaArmsException`	Exception from arms method.
`RayaArmsControllerNotReady`	Arms controller not yet ready.

See the Arms Pose Example to check some valid poses.

Was this article helpful?

Table of contents