add_attached_object()
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add_attached_object()
- 1 Minute to read
Article summary
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Add an attached object to the arm.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | The arm to attach the object to. | |
| id | str | The ID of the attached object. | |
| types | list | List of types for the object's shapes. | |
| dimensions | list | List of dimensions for the object's shapes. | |
| shapes_poses | list | List of poses for the object's shapes, using quaternion or euler angles as representation for orientation. and the pose is the center of the object referenced to the center of the gripper. | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | Unit for angles (DEGREES or RADIANS). |
Return
None
Exceptions
RayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsExternalException
See the complete list of arms exceptions
Usage Example
from raya.enumerations import SHAPE_TYPE
...
self.types_tool = [SHAPE_TYPE.BOX]
self.poses_tool = [{'position': {'x': 0.0,
'y': 0.0,
'z': -0.05},
'orientation': {'x': 0, 'y': 0, 'z': 0, 'w': 1}}]
self.dimensions_tool = [[self.width_tool,
self.width_tool,
0.02]]
await self.arms.add_attached_object(arm=self.arm_name, id="cleaning_tool",
types=self.types_tool,
dimensions=self.dimensions_tool,
shapes_poses=self.poses_tool)
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