remove_attached_object()¶

Removed attached object from the arm.

Reference¶

Arguments¶

Arguments	Type	Default value	Description
id	`str`	`''`	ID of the attached object to remove (optional).
rem ove_all_objects	`bool`	`True`	Whether to remove all attached objects (if True).

Return¶

None

Exceptions¶

RayaArmsException
RayaArmsInvalidArmOrGroupName
RayaArmsExternalException

See the complete list of arms exceptions

Usage Example¶

Remove Specific ID¶

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)
await self.arms.remove_attached_object( id = "cleaning_tool",
                                        remove_all_objects = False)

Remove All attached¶

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)
await self.arms.remove_attached_object()