execute_poses_array()

---

Take the end effector of the arm to a different coordinates based on a list of poses. Uses roll, pitch, and yaw to define the orientation.

Reference

Arguments

Arguments	Type	Default value	Description
arm	str		The arm requested is not a valid group.
poses	list		List of poses.
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 execution.
cameras	list	[]	List of cameras.
update_obstacles	bool	False	Whether to update 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.
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.
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

Type	Description
float	Fraction of the trajectory realized

Exceptions

• RayaInvalidCallback

• RayaArmsException

• RayaArmsInvalidArmOrGroupName

• 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).
fraction	float	Fraction of the trajectory realized

Usage Example

See the Arms Execute Pose Array to see how to use this function.