Contents x
- Getting Started
- Ra-Ya Python Library
- Controllers
- Sensors
- LiDAR
- Cameras
- Leds
- Motion
- Communication
- Sounds
- Status
- Arms
- UI
- Interactions
- Manipulation
- CV
- Navigation
- zones & locations
- navigation
- Asynchronous Methods
- enable_speed_zones()
- disable_speed_zones()
- update_robotic_footprint()
- cancel_navigation()
- navigate_close_to_position()
- go_to_angle()
- navigate_to_zone()
- navigate_to_location()
- navigate_to_position()
- get_position()
- is_in_zone()
- update_current_nav_goal()
- get_costmap()
- check_path_to_goal()
- get_status()
- await_until_stop()
- Synchronous Methods
- Asynchronous Methods
- maps & position
- Feedbacks
- Exceptions
- NLP
- Fleet
- General Enumerations
- General Exceptions
- Tools
- Controllers
- Robots
- Unlimited Robotics SDK
Article summary
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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
Arguments | Type | Default value | Description |
---|---|---|---|
arm | str | The arm to set the predefined pose for. | |
predefined_pose | str | The name of the predefined pose to set. | |
tilt_constraint | bool | False | Whether to apply a tilt constraint. |
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_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 . |
wait | bool | False | Boolean 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
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
See the Arms Predefined Pose Example for some examples of poses.
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