Python MoveGroupCommander.set_support_surface_name方法代码示例

# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import set_support_surface_name [as 别名]

#.........这里部分代码省略.........
        scene.add_box(box1_id, box1_pose, box1_size)
        
        box2_pose = PoseStamped()
        box2_pose.header.frame_id = REFERENCE_FRAME
        box2_pose.pose.position.x = 0.54
        box2_pose.pose.position.y = 0.13
        box2_pose.pose.position.z = table_ground + table_size[2] + box2_size[2] / 2.0
        box2_pose.pose.orientation.w = 1.0   
        scene.add_box(box2_id, box2_pose, box2_size)       
        
        # Set the target pose in between the boxes and on the table
        target_pose = PoseStamped()
        target_pose.header.frame_id = REFERENCE_FRAME
        target_pose.pose.position.x = 0.60
        target_pose.pose.position.y = 0.0
        target_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0
        target_pose.pose.orientation.w = 1.0
        
        # Add the target object to the scene
        scene.add_box(target_id, target_pose, target_size)
        
        # Make the table red and the boxes orange
        self.setColor(table_id, 0.8, 0, 0, 1.0)
        self.setColor(box1_id, 0.8, 0.4, 0, 1.0)
        self.setColor(box2_id, 0.8, 0.4, 0, 1.0)
        
        # Make the target yellow
        self.setColor(target_id, 0.9, 0.9, 0, 1.0)
        
        # Send the colors to the planning scene
        self.sendColors()
        
        # Set the support surface name to the table object
        right_arm.set_support_surface_name(table_id)
        
        # Specify a pose to place the target after being picked up
        place_pose = PoseStamped()
        place_pose.header.frame_id = REFERENCE_FRAME
        place_pose.pose.position.x = 0.50
        place_pose.pose.position.y = -0.25
        place_pose.pose.position.z = table_ground + table_size[2] + target_size[2] / 2.0
        place_pose.pose.orientation.w = 1.0

        # Initialize the grasp pose to the target pose
        grasp_pose = target_pose
        
        # Shift the grasp pose by half the width of the target to center it
        grasp_pose.pose.position.y -= target_size[1] / 2.0
                
        # Generate a list of grasps
        grasps = self.make_grasps(grasp_pose, [target_id])

        # Publish the grasp poses so they can be viewed in RViz
        for grasp in grasps:
            self.gripper_pose_pub.publish(grasp.grasp_pose)
            rospy.sleep(0.2)
    
        # Track success/failure and number of attempts for pick operation
        result = None
        n_attempts = 0
        
        # Repeat until we succeed or run out of attempts
        while result != MoveItErrorCodes.SUCCESS and n_attempts < max_pick_attempts:
            n_attempts += 1
            rospy.loginfo("Pick attempt: " +  str(n_attempts))
            result = right_arm.pick(target_id, grasps)

# 需要导入模块: from moveit_commander import MoveGroupCommander [as 别名]
# 或者: from moveit_commander.MoveGroupCommander import set_support_surface_name [as 别名]

#.........这里部分代码省略.........
                # Add to scene
                scene.addSolidPrimitive(obj.name,
                                        obj.primitives[0],
                                        obj.primitive_poses[0],
                                        wait = False)
                
                # Get the table dimensions
                table_size = obj.primitives[0].dimensions
                
            # If no objects detected, try again
            if the_object == None or target_size is None:
                rospy.logerr("Nothing to grasp! try again...")
                continue
    
            # Wait for the scene to sync
            scene.waitForSync()
    
            # Set colors of the table and the object we are grabbing
            scene.setColor(target_id, 223.0/256.0, 90.0/256.0, 12.0/256.0)  # orange
            scene.setColor(find_result.objects[the_object].object.support_surface, 0.3, 0.3, 0.3, 0.7)  # grey
            scene.sendColors()
    
            # Skip pick-and-place if we are just detecting objects
            if args.objects:
                if args.once:
                    exit(0)
                else:
                    continue
    
            # Get the support surface ID
            support_surface = find_result.objects[the_object].object.support_surface
                        
            # Set the support surface name to the table object
            right_arm.set_support_surface_name(support_surface)
            
            # Specify a pose to place the target after being picked up
            place_pose = PoseStamped()
            place_pose.header.frame_id = REFERENCE_FRAME
            place_pose.pose.position.x = target_pose.pose.position.x
            place_pose.pose.position.y = 0.03
            place_pose.pose.position.z = table_size[2] + target_size[2] / 2.0 + 0.015
            place_pose.pose.orientation.w = 1.0
                            
            # Initialize the grasp pose to the target pose
            grasp_pose = target_pose
             
            # Shift the grasp pose half the size of the target to center it in the gripper
            try:
                grasp_pose.pose.position.x += target_size[0] / 2.0
                grasp_pose.pose.position.y -= 0.01
                grasp_pose.pose.position.z += target_size[2] / 2.0
            except:
                rospy.loginfo("Invalid object size so skipping")
                continue

            # Generate a list of grasps
            grasps = self.make_grasps(grasp_pose, [target_id])
     
            # Publish the grasp poses so they can be viewed in RViz
            for grasp in grasps:
                self.gripper_pose_pub.publish(grasp.grasp_pose)
                rospy.sleep(0.2)
         
            # Track success/failure and number of attempts for pick operation
            result = None
            n_attempts = 0