is_pose_valid()

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Checks to see if the pose derived from the given arguments is valid for the specified arm. Uses the euler representation (roll, pitch, and yaw) to describe orientations.

Reference

Arguments

Arguments	Type	Default value	Description
arm	`str`		The arm to check the pose validity for.
x	`float`		X-coordinate of the pose to check.
y	`float`		Y-coordinate of the pose to check.
z	`float`		Z-coordinate of the pose to check.
roll	`float`		Roll angle of the pose to check.
pitch	`float`		Pitch angle of the pose to check.
yaw	`float`		Yaw angle of the pose to check.
start_x	`float`	`0.0`	Starting X-coordinate for the validity check.
start_y	`float`	`0.0`	Starting Y-coordinate for the validity check.
start_z	`float`	`0.0`	Starting Z-coordinate for the validity check.
start_roll	`float`	`0.0`	Starting roll angle for the validity check.
start_pitch	`float`	`0.0`	Starting pitch angle for the validity check.
start_yaw	`float`	`0.0`	Starting yaw angle for the validity check.
start_joints	`list`	`[]`	Starting joint values for the validity check.
name_start_joints	`list`	`[]`	Names of the starting joints for the validity check.
use_start_pose	`bool`	`False`	Whether to use the starting pose for the validity check .
use_start_joints	`bool`	`False`	Whether to use the starting joints for the validity check.
cartesian_path	`bool`	`False`	Whether to follow a cartesian path.
tilt_constraint	`bool`	`False`	Whether to apply a tilt constraint.
units	`ANGLE_UNIT`	`ANGLE_UNIT.DEGREES`	Unit for angles (DEGREES or RADIANS).
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_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.

Callback Finish Arguments

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).
distance	`float`	Distance from the actual position of the gripper to the final pose.
fraction	`float`	Fraction of the trajectory realized.
final_position	`float []`	The final joints position in the trajectory to get the pose is being checked.
start_position	`float[]`	The start joints position in the trajectory to get the pose is being checked.

Return

Type	Description
`float`	Distance from the actual position of the gripper to the final pose.
`float`	Fraction of the trajectory realized.
`float []`	The final joints position in the trajectory to get the pose is being checked.
`float []`	The start joints position in the trajectory to get the pose is being checked.

Exceptions

RayaInvalidCallback
RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsExternalException

See the complete list of arms exceptions

Usage example

See the Arms Check Pose Example and Arms Check Pose Obstacles Example to check the validity of some poses.

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is_pose_valid_q()

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Reference
Usage example