set_pose_q()

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Sets the end effector of one arm to the specified coordinates and rotations.Uses the quaternion system to specify orientation.

Reference

Arguments

Arguments	Type	Default value	Description
arm	str		The arm to set the pose for.
x	float		X-coordinate of the pose.
y	float		Y-coordinate of the pose.
z	float		Z-coordinate of the pose.
qx	float		X-component of the quaternion orientation of the pose.
qy	float		Y-component of the quaternion orientation of the pose.
qz	float		Z-component of the quaternion orientation of the pose.
qw	float		W-component of the quaternion orientation of the pose.
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.
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	''	Mame 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	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

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 Set Pose Example and Arms Set Pose Obstacles Example to check some valid uses.