set_predefined_pose()¶

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.