execute_poses_array_q()

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Take the end effector of the arm to a different coordinates based on a list of poses. Uses the quaternion system to define the orientation.

Reference

Arguments

Arguments	Type	Default value	Description
arm	`str`		The arm requested is not a valid group.
poses	`list`		List of poses. Each pose is represented as a dictionary with the following fields: "x": X-coordinate of the pose's position. "y": Y-coordinate of the pose's position. "z": Z-coordinate of the pose's position. "qx": X-component of the quaternion representing the pose's orientation. "qy": Y-component of the quaternion representing the pose's orientation. "qz": Z-component of the quaternion representing the pose's orientation. "qw": W-component of the quaternion representing the pose's orientation.
units	`ANGLE_UNIT`	`ANGLE_UNIT.DEGREES`	Unit for angles (DEGREES or RADIANS).
cartesian_path	`bool`	`False`	Whether to follow a cartesian path.
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`	Whether to wait for user response ).

Return

Type	Description
float	Fraction of the trajectory realized

Exceptions

RayaInvalidCallback
RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsExternalException

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 Example

See the Arms Execute Pose Array to see how to use this function.

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What's Next

set_multi_arm_pose()

Table of contents

Reference
Usage Example