is_pose_valid_q()

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Checks to see if the pose derived from the given arguments is valid for the specified arm. Uses the quaternion system to describe orientations.

Reference

Arguments

Arguments	Type	Default value	Description
arm	`str`		The arm requested is not a valid group.
x	`float`		X-coordinate of the goal pose.
y	`float`		Y-coordinate of the goal pose .
z	`float`		Z-coordinate of the goal pose .
qx	`float`		X-component of the quaternion representing the goal orientation.
qy	`float`		Y-component of the quaternion representing the goal orientation.
qz	`float`		Z-component of the quaternion representing the goal orientation.
qw	`float`		W-component of the quaternion representing the goal orientation.
start_x	`float`	`0.0`	X-coordinate of the starting pose.
start_y	`float`	`0.0`	Y-coordinate of the starting pose.
start_z	`float`	`0.0`	Z-coordinate of the starting pose.
start_qx	`float`	`0.0`	X-component of the quaternion representing the starting orientation.
start_qy	`float`	`0.0`	Y-component of the quaternion representing the starting orientation.
start_qz	`float`	`0.0`	Z-component of the quaternion representing the starting orientation.
start_qw	`float`	`1.0`	W-component of the quaternion representing the starting orientation.
start_joints	`list`	`[]`	List of starting joint angles.
name_start_joints	`list`	`[]`	List of names corresponding to the starting joint angles.
use_start_pose	`bool`	`False`	Whether to use the starting pose.
use_start_joints	`bool`	`False`	Whether to use the starting joint angles.
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 checking.
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.
wait	`bool`	`False`	Whether to wait for user response.
callback_finish	`Callable`	`None`	Callable function for finish.
callback_finish_async	`Callable`	`None`	Callable function for finish.

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_joints_position_valid()

Table of contents

Reference
Usage example