本文整理汇总了Python中moveit_commander.MoveGroupCommander.clear_pose_targets方法的典型用法代码示例。如果您正苦于以下问题：Python MoveGroupCommander.clear_pose_targets方法的具体用法？Python MoveGroupCommander.clear_pose_targets怎么用？Python MoveGroupCommander.clear_pose_targets使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类moveit_commander.MoveGroupCommander的用法示例。
在下文中一共展示了MoveGroupCommander.clear_pose_targets方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import clear_pose_targets [as 别名]
#.........这里部分代码省略.........
# A list to hold the grasps
grasps = []
g = PoseStamped()
g.header.frame_id = REFERENCE_FRAME
g.pose = initial_pose.pose
#g.pose.position.z += 0.18
# Generate a grasp for each pitch and yaw angle
for y in yaw_vals:
for p in pitch_vals:
# Create a quaternion from the Euler angles
q = transformations.quaternion_from_euler(0, p, y)
# Set the grasp pose orientation accordingly
g.pose.orientation.x = q[0]
g.pose.orientation.y = q[1]
g.pose.orientation.z = q[2]
g.pose.orientation.w = q[3]
# Append the grasp to the list
grasps.append(deepcopy(g))
# Return the list
return grasps
def plan_exec(self, pose):
self.right_arm.clear_pose_targets()
self.right_arm.set_pose_target(pose, GRIPPER_FRAME)
self.right_arm.plan()
rospy.sleep(5)
self.right_arm.go(wait=True)
def close_gripper(self):
g_close = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.035, 100))
self.ac.send_goal(g_close)
self.ac.wait_for_result()
rospy.sleep(15) # Gazebo requires up to 15 seconds to attach object
def open_gripper(self):
g_open = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.088, 100))
self.ac.send_goal(g_open)
self.ac.wait_for_result()
rospy.sleep(5) # And up to 20 to detach it
def scene_generator(self):
# print obj_att
global target_pose
global target_id
next_call = time.time()
while True:
next_call = next_call+1
target_id = 'target'
self.taid = self.pwh.name.index('wood_cube_5cm')示例2: __init__
# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import clear_pose_targets [as 别名]
#.........这里部分代码省略.........
# A list of yaw angles to try
yaw_vals = [0]
# A list to hold the places
places = []
# Generate a place pose for each angle and translation
for y in yaw_vals:
for p in pitch_vals:
for y in y_vals:
for x in x_vals:
place.pose.position.x = init_pose.pose.position.x + x
place.pose.position.y = init_pose.pose.position.y + y
# Create a quaternion from the Euler angles
q = quaternion_from_euler(0, p, y)
# Set the place pose orientation accordingly
place.pose.orientation.x = q[0]
place.pose.orientation.y = q[1]
place.pose.orientation.z = q[2]
place.pose.orientation.w = q[3]
# Append this place pose to the list
places.append(deepcopy(place))
# Return the list
return places
def plan_exec(self, pose):
self.right_arm.clear_pose_targets()
self.right_arm.set_pose_target(pose, GRIPPER_FRAME)
self.right_arm.plan()
rospy.sleep(5)
self.right_arm.go(wait=True)
def close_gripper(self):
g_close = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.035, 100))
self.ac.send_goal(g_close)
self.ac.wait_for_result()
rospy.sleep(15) # Gazebo requires up to 15 seconds to attach object
def open_gripper(self):
g_open = pr2c.Pr2GripperCommandGoal(pr2c.Pr2GripperCommand(0.088, 100))
self.ac.send_goal(g_open)
self.ac.wait_for_result()
rospy.sleep(5) # And up to 20 to detach it
def scene_generator(self):
# print obj_att
global target_pose
global target_id
global target_size
target_id = 'target'
self.taid = self.pwh.name.index('wood_cube_5cm')
table_id = 'table'
self.tid = self.pwh.name.index('table')
#obstacle1_id = 'obstacle1'