set_joints_position()

---

Sets any joints to specified angles.

Reference

Arguments

Arguments	Type	Default value	Description
arm	str		The arm to set the joint positions for.
name_joints	list		List of joint names.
angle_joints	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 feedback.
callback_finish	Callable	None	Callable function for finish .
callback_finish_async	Callable	None	Callable function for finish .
wait	bool	False	bool indicating whether to wait for user response.

See the complete list of general enumerations

Return

None

Exceptions

• RayaInvalidCallback

• RayaArmsException

• RayaArmsInvalidArmOrGroupName

• RayaArmsExternalException

• RayaArmsInvalidJointName

See the complete list of arms exceptions and the complete list of general 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 Set Joints Position Example for some examples of code for joint positions.