Manipulation

---

• Synchronous methods
  • is_manipulation()
• Asynchronous methods
  • cancel_manipulation()
  • wait_manipulation_finished()
  • place_object_with_reference()
  • place_object_with_tag()
  • clean_arms_status()
  • pick_object_point()
  • pick_object()
  • place_object_with_point()
• Exceptions
• Feedbacks

Grasping

1. Overview

The purpose of this controller is to allow you to perform “smart” tasks related to the graping phase, mostly related to pick & place functionality.

Instead of using CV controller & Arm controller to manipulate the arm and close the gripper, while taking into consideration several dynamic parameters like object dimensions, you can use this controller and perform a pick command with few lines of code.

2. Using the controller

from raya.application_base import RayaApplicationBase
from raya.controllers.manipulation_controller import ManipulationController


class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.manip:ManipulationController = \await self.enable_controller('manipulation')
        ...

3. Example

Pick Object

Pick Object Point

Place Object

See more on the pyraya examples Github