set_joints_position()
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set_joints_position()
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Sets any joints to specified angles.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | The arm to set the joint positions for. | |
| name_joints | list | List of joint names. | |
| angle_joints | list | List of joint angles. | |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | Unit for angles (DEGREES or RADIANS). |
| tilt_constraint | bool | False | Whether to apply a tilt constraint. |
| use_obstacles | bool | False | Whether to use obstacles during execution. |
| cameras | list | [] | List of cameras. |
| update_obstacles | bool | False | Whether to update obstacles. |
| min_bbox_clear_obstacles | list | [] | List of minimum bounding boxes for clearing obstacles. |
| max_bbox_clear_obstacles | list | [] | List of maximum bounding boxes for clearing obstacles. |
| save_trajectory | bool | False | Whether to save the trajectory. |
| name_trajectory | str | '' | Name of the trajectory. |
| velocity_scaling | float | 0.0 | Scaling factor for velocity. |
| acceleration_scaling | float | 0.0 | Scaling factor for acceleration. |
| callback_feedback | Callable | None | Callable function for feedback. |
| callback_feedback_async | Callable | None | Callable function for feedback. |
| callback_finish | Callable | None | Callable function for finish . |
| callback_finish_async | Callable | None | Callable function for finish . |
| wait | bool | False | bool indicating whether to wait for user response. |
See the complete list of general enumerations.
Return
None
Exceptions
RayaInvalidCallbackRayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsExternalExceptionRayaArmsInvalidJointName
See the complete list of arms exceptions and the complete list of general exceptions.
Feedbacks
- [1] The arm is in execution of the command
- [3] Planning of the trajectory in progress
- [4] Updating obstacles in progress
See the complete list of arms feedbacks.
Callback Arguments
callback_feedback
| Argument | Type | Description |
|---|---|---|
| feedback_code | int | Code for the type of feedback. |
| feedback_msg | str | Details regarding the feedback code (empty if no error). |
| arm | str | Name of the arm. |
| percentage | float | Percent of movement completed until target pose is reached. |
callback_finish
| Argument | Type | Description |
|---|---|---|
| error | int | Code for the type of error encountered (0 if no error). |
| error_msg | str | Details regarding the error (empty if no error). |
Usage Example
See the Arms Set Joints Position Example for some examples of code for joint positions.
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