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    set_predefined_pose()
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    set_predefined_pose()


    Article summary

    The robotic device might have predefined poses that the arm can execute to ( Use get_list_predefined_poses() to get the available predefined positions).
    This method sends the desired arm to one of those predefined positions.

    Reference

    Arguments

    ArgumentsTypeDefault valueDescription
    armstrThe arm to set the predefined pose for.
    predefined_posestrThe name of the predefined pose to set.
    tilt_constraintboolFalseWhether to apply a tilt constraint.
    use_obstaclesboolFalseWhether to use obstacles during execution.
    cameraslist[]List of cameras.
    update_obstaclesboolFalseWhether to update obstacles.
    min_bbox_clear_obstacleslist[]List of minimum bounding boxes for clearing obstacles.
    max_bbox_clear_obstacleslist[]List of maximum bounding boxes for clearing obstacles.
    save_trajectoryboolFalseWhether to save the trajectory.
    name_trajectorystr''Name of the trajectory.
    velocity_scalingfloat0.0Scaling factor for velocity.
    acceleration_scalingfloat0.0Scaling factor for acceleration.
    callback_feedbackCallableNoneCallable function for feedback .
    callback_feedback_asyncCallableNoneCallable function for feedback .
    callback_finishCallableNoneCallable function for finish.
    callback_finish_asyncCallableNoneCallable function for finish .
    waitboolFalseBoolean indicating whether to wait for user response

    Return

    None

    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

    ArgumentTypeDescription
    feedback_codeintCode for the type of feedback.
    feedback_msgstrDetails regarding the feedback code (empty if no error).
    armstrName of the arm.
    percentagefloatPercent of movement completed until target pose is reached.

    callback_finish

    ArgumentTypeDescription
    errorintCode for the type of error encountered (0 if no error).
    error_msgstrDetails regarding the error (empty if no error).

    Usage Example

    See the Arms Predefined Pose Example for some examples of poses.


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