set_pose_q()

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Sets the joints of one arm to the specified coordinates and rotations. Uses the quaternion system to specify orientation.

Reference

Arguments	Type	Default value
arm	str		Name of the arm to move.
x_	float	None	X-coordinate (in meters) of center of gripper relative to Gary's center
y_	float	None	Y-coordinate (in meters) of center of gripper relative to Gary's center
z_	float	None	Z-coordinate (in meters) of center of 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
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 executed.
callback_finish_	function	None	Function to be called once pose is finished being executed.
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.

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