add_attached_object()¶

Add an attached object to the arm.

Reference¶

Arguments¶

Arguments	Type	Default value	Description
arm	`str`		The arm to attach the object to.
id	`str`		The ID of the attached object.
types	`list`		List of types for the object’s shapes.
dimensions	`list`		List of dimensions for the object’s shapes.
shapes_poses	`list`		List of poses for the object’s shapes, using quaternion or euler angles as representation for orientation. and the pose is the center of the object referenced to the center of the gripper.
units	`ANGLE_UNIT`	`ANGLE_UNIT.DEGREES`	Unit for angles (DEGREES or RADIANS).

Return¶

None

Exceptions¶

RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsExternalException

See the complete list of arms exceptions

Usage Example¶

from raya.enumerations import SHAPE_TYPE
...

self.types_tool = [SHAPE_TYPE.BOX]
self.poses_tool = [{'position': {'x': 0.0,
                                 'y': 0.0,
                                 'z': -0.05},
                    'orientation': {'x': 0, 'y': 0, 'z': 0, 'w': 1}}]
self.dimensions_tool = [[self.width_tool,
                                         self.width_tool,
                                        0.02]]
await self.arms.add_attached_object(arm=self.arm_name, id="cleaning_tool",
                                                types=self.types_tool,
                                                dimensions=self.dimensions_tool,
                                                shapes_poses=self.poses_tool)