execute_predefined_poses_array()
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execute_predefined_poses_array()
- 1 Minute to read
Article summary
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Execute multiple predefined poses for an arm in a row.
Reference
Arguments
Arguments | Type | Default value | Description |
---|---|---|---|
arm | str | The arm requested is not a valid group. | |
predefined_poses | list | List of predefined poses. | |
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 finish. |
callback_finish | Callable | None | Callable function for finish. |
callback_finish_async | Callable | None | Callable function for finish. |
wait | bool | False | Boolean indicating whether to wait for user response. |
Return
Type | Description |
---|---|
float | Fraction 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
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. |
Examples
See the Arms Execute Predefined Pose Array to see how to use this function.
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