manage_predefined_trajectory()

This function manages predefined trajectories.

Reference

Arguments

Return

ARMS_MANAGE_ACTIONS.REMOVE

None

ARMS_MANAGE_ACTIONS.GET_INFORMATION

Exceptions

• RayaArmsException
• RayaArmsPredefinedPoseEmptyName
• RayaArmsPredefinedTrajectoryNameAlreadyExist
• RayaArmsPredefinedPoseNameNotExist

See the complete list of arms exceptions

Usage Example

ARMS_MANAGE_ACTIONS.GET_INFORMATION

...
self.arms = self.enable_controller('arms')
...
predefined_trajectories = self.arms.get_list_predefined_trajectories()
info_predefined_trajectory = self.arms.manage_predefined_trajectory(name= predefined_trajectories[-1])
self.log.info(json.dumps(info_predefined_trajectory, indent=2))

Output:

{
  "arm": "left_arm",
  "joint_names": [
    "arm_left_shoulder_rail_joint",
    "arm_left_shoulder_FR_joint",
    "arm_left_shoulder_RL_joint",
    "arm_left_bicep_twist_joint",
    "arm_left_bicep_FR_joint",
    "arm_left_elbow_twist_joint",
    "arm_left_elbow_FR_joint",
    "arm_left_wrist_joint"
  ],
  "start_position": [
    8.972426575377501e-05,
    -0.03173527054583321,
    -0.01080285341023765,
    -0.004505780251340769,
    -1.93396395910474,
    3.129114916800413,
    -0.3950002210519359,
    -1.569905172255493
  ],
  "end_position": [
    9.318329645320773e-05,
    -1.715935603715571e-05,
    -7.1511113084853e-05,
    3.277424164116247e-06,
    3.495145821888216e-06,
    3.19550953340686e-05,
    -4.061059248634819e-05,
    5.566391581624267e-06
  ]
}

ARMS_MANAGE_ACTIONS.REMOVE

...
self.arms = self.enable_controller('arms')
...
predefined_trajectories = self.arms.get_list_predefined_trajectories()
self.log.info(f'before remove: {predefined_trajectories}')
info_predefined_trajectory = self.arms.manage_predefined_trajectory(name= predefined_trajectories[-1],
                                                        action = ARMS_MANAGE_ACTIONS.REMOVE)
predefined_trajectories = self.arms.get_list_predefined_trajectories()
self.log.info(f'after remove: {predefined-trajectories}) 

Output:

before remove: ['pre_grasping_bottle', 'grasping_bottle',  'post_grasping_bottle']
after remove: ['pre_grasping_bottle', 'grasping_bottle']