execute_joints_positions_array()
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execute_joints_positions_array()
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Article summary
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Executes movement according to array of joint values.
Reference
Arguments
| Arguments | Type | Default value | Description |
|---|---|---|---|
| arm | str | The arm requested is not a valid group. | |
| joint_values | list | List of joint values. Help: Define the value of the joints in array format, where each position is a list where the value for each joint should be defined, if it doesnt the names joint array should be defined. | |
| name_joints_array | list | [] | List of joint names. Help: Define the name of the joints in array format, where each position is a list where the name belongs at the joint to be set in position defined in joint values. |
| units | ANGLE_UNIT | ANGLE_UNIT.DEGREES | Unit for angles (DEGREES or RADIANS) |
| tilt_constraint | bool | False | Boolean 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. |
| 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. |
| 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. |
| 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 | Whether to wait for user response. |
Return
| Type | Description |
|---|---|
| float | Fraction of the trajectory realized. |
Exceptions
RayaInvalidCallbackRayaArmsExceptionRayaArmsInvalidArmOrGroupNameRayaArmsInvalidJointNameRayaArmsExternalException
See the complete list of arms 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). |
| fraction | float | Fraction of the trajectory realized |
Usage Examples
See the Arms Execute Joint Values Array to see how to use this function.
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