set_joint_position()¶

Set a joints to specified angle.

Reference¶

Arguments¶

Arguments	Type	Default value	Description
arm	`str`		The arm to set the joint positions for.
joint	`list`		List of joint names.
position	`list`		List of joint angles.
units	`ANGLE_UNIT`	`ANGLE_UNIT.DEGREES`	Unit for angles (DEGREES or RADIANS).
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 finish.
callback_finish	`Callable`	`None`	Callable function for finish.
callback_finish_async	`Callable`	`None`	Callable function for finish .
wait	`bool`	`False`	Whether to wait for user response .

Return¶

None

Exceptions¶

RayaInvalidCallback
RayaArmsException
RayaArmsInvalidJointName
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).

Usage Example¶

...
async def setup(self):
    self.arms: ArmsController = self.enable_controller('arms')

...
async def loop(self):
    await self.arms.set_joint_position(
        arm='left_arm',
        joint='arm_left_shoulder_RL_joint',
        position=-45.0,
        wait=True,
    )