execute_predefined_trajectory()

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Execute a predefined trajectory for the end effector of a arm.

Reference

Arguments

Arguments	Type	Default value	Description
predefined_trajectory	`str`		Name of the predefined trajectory.
reverse_execution	`bool`	`False`	Whether to execute the trajectory in reverse.
go_to_start_position	`bool`	`False`	Wheter to set start position before execute the trajectory.
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.
additional_options	`dict`	`{}`	Additional options for the trajectory execution.
velocity_scaling	`float`	`0.0`	Scaling factor for velocity.
acceleration_scaling	`float`	`0.0`	Scaling factor for acceleration.
wait	`bool`	`False`	Whether to wait for user response.
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.

Return

None

Exceptions

RayaInvalidCallback
RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsPredefinedTrajectoryNameAlreadyExist
RayaArmsErrorParsingPredefinedTrajectory
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_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

...
PREDEFINED_POSES = {

    'pre_pick': {
        'x': 0.35661, 
        'y': -0.258, 
        'z': 0.7011,
        'roll': 0.0, 
        'pitch': -10.0, 
        'yaw': 0.0
    },

    'pick': {
        'x': 0.58661, 
        'y': -0.258, 
        'z': 0.6711,
        'roll': 0.0, 
        'pitch': -10.0, 
        'yaw': 0.0
    },

    'nav_with_tray': {
        'x': 0.30661, 
        'y': -0.258, 
        'z': 0.466,
        'roll': 0.0, 
        'pitch': -10.0, 
        'yaw': 0.0,
    },

}
...
async def setup(self):
    self.arms: ArmsController = await self.enable_controller('arms')
    name = 'nav_with_tray'
    plan = False
...

async def loop(self):
    if plan:
            res = await self.arms.is_pose_valid(
                'right_arm', 
                **(PREDEFINED_POSES[name]),
                use_obstacles=True,
                update_obstacles=True,
                cartesian_path=False,
                tilt_constraint=constraints,
                save_trajectory=True,
                name_trajectory=name,
                wait=True)

    await self.arms.execute_predefined_trajectory(
        name,
        wait=True,
    )
...

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execute_predefined_poses_array()

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Reference
Usage Example