execute_predefined_poses_array()
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execute_predefined_poses_array()


Article summary

Execute multiple predefined poses for an arm in a row.

Reference

Arguments

ArgumentsTypeDefault valueDescription
armstrThe arm requested is not a valid group.
predefined_poseslistList of predefined poses.
tilt_constraintboolFalseWhether to apply a tilt constraint.
use_obstaclesboolFalseWhether to use obstacles during execution.
cameraslist[]List of cameras.
update_obstaclesboolFalseWhether to update obstacles.
min_bbox_clear_obstacleslist[]List of minimum bounding boxes for clearing obstacles.
max_bbox_clear_obstacleslist[]List of maximum bounding boxes for clearing obstacles.
save_trajectoryboolFalseWhether to save the trajectory.
name_trajectorystr''Name of the trajectory .
velocity_scalingfloat0.0Scaling factor for velocity.
acceleration_scalingfloat0.0Scaling factor for acceleration.
callback_feedbackCallableNoneCallable function for feedback.
callback_feedback_asyncCallableNoneCallable function for finish.
callback_finishCallableNoneCallable function for finish.
callback_finish_asyncCallableNoneCallable function for finish.
waitboolFalseBoolean indicating whether to wait for user response.

Return

TypeDescription
floatFraction of the trajectory realized

Exceptions

  • RayaInvalidCallback
  • RayaArmsException
  • RayaArmsInvalidArmOrGroupName
  • RayaArmsNotPredefinedPoseAvailable
  • 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

ArgumentTypeDescription
feedback_codeintCode for the type of feedback.
feedback_msgstrDetails regarding the feedback code (empty if no error).
armstrName of the arm.
percentagefloatPercent of movement completed until target pose is reached.

callback_finish

ArgumentTypeDescription
errorintCode for the type of error encountered (0 if no error).
error_msgstrDetails regarding the error (empty if no error).
fractionfloatFraction of the trajectory realized.

Examples

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


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