本文整理汇总了Python中moveit_commander.PlanningSceneInterface.attach_mesh方法的典型用法代码示例。如果您正苦于以下问题:Python PlanningSceneInterface.attach_mesh方法的具体用法?Python PlanningSceneInterface.attach_mesh怎么用?Python PlanningSceneInterface.attach_mesh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.PlanningSceneInterface
的用法示例。
在下文中一共展示了PlanningSceneInterface.attach_mesh方法的3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 PlanningSceneInterface [as 别名]
# 或者: from moveit_commander.PlanningSceneInterface import attach_mesh [as 别名]
#.........这里部分代码省略.........
target_pose.pose.position.y = 0.80576308041
target_pose.pose.position.z = 0.794775212132
target_pose.pose.orientation.x = 3.01203251908e-05
target_pose.pose.orientation.y = 0.705562870053
target_pose.pose.orientation.z = 4.55236739937e-05
target_pose.pose.orientation.w = 0.708647326547
start = input("Start right_wam planning ? ")
right_wam.set_start_state_to_current_state()
right_wam.set_pose_target(target_pose, right_end_effector_link)
right_wam.execute(right_wam.plan())
start = input("right_wam into position. ")
start_pose = deepcopy(right_wam.get_current_pose(right_end_effector_link).pose)
intermidiate_pose = deepcopy(right_wam.get_current_pose(right_end_effector_link).pose)
intermidiate_pose.position.x = intermidiate_pose.position.x + 0.6
plan = self.StraightPath(start_pose, intermidiate_pose, right_wam)
right_wam.set_start_state_to_current_state()
right_wam.execute(plan)
rospy.sleep(3)
# Closing the hand
right_wam_finger_1.set_named_target("right_wam_finger_1_grasp")
right_wam_finger_2.set_named_target("right_wam_finger_2_grasp")
right_wam_finger_3.set_named_target("right_wam_finger_3_grasp")
right_wam_finger_1.execute(right_wam_finger_1.plan())
#rospy.sleep(3)
right_wam_finger_2.execute(right_wam_finger_2.plan())
#rospy.sleep(3)
right_wam_finger_3.execute(right_wam_finger_3.plan())
rospy.sleep(1)
scene.attach_mesh(right_end_effector_link, 'spoon', p, '/home/yzheng/catkin_ws/src/manipulation_scenarios/ycb_object_models/models/stl/spoon.stl')
#create a circle path
circles = input("How many circles you want the wam to mix ? ")
start_pose = deepcopy(right_wam.get_current_pose(right_end_effector_link).pose)
plan = self.CircularPath(start_pose, circles, right_wam)
#execute the circle path
right_wam.set_start_state_to_current_state()
right_wam.execute(plan)
pause = input("Mix the oatmeal ")
#put the right_wam back to preparation pose
end_pose = deepcopy(right_wam.get_current_pose(right_end_effector_link).pose)
intermidiate_pose1 = deepcopy(end_pose)
intermidiate_pose1.position.z = intermidiate_pose1.position.z + 0.1
plan = self.StraightPath(end_pose, intermidiate_pose1, right_wam)
right_wam.set_start_state_to_current_state()
right_wam.execute(plan)
pause = input("wait for the execution of straight path ")
end_pose = deepcopy(right_wam.get_current_pose(right_end_effector_link).pose)
intermidiate_pose2 = deepcopy(end_pose)
intermidiate_pose2.position.x = intermidiate_pose2.position.x - 0.25
plan = self.StraightPath(end_pose, intermidiate_pose2, right_wam)
right_wam.set_start_state_to_current_state()
示例2: req
# 需要导入模块: from moveit_commander import PlanningSceneInterface [as 别名]
# 或者: from moveit_commander.PlanningSceneInterface import attach_mesh [as 别名]
####################### CLOSE RIGHT HAND ###############################
scene.remove_world_object("right_shoe")
rospy.sleep(1)
res = req(2,2) # 2 -> Right _hand 2-> Grasp
rospy.sleep(1)
####################### ATTACH RIGHT SHOE TO THE ROBOT ###############################
pose.pose.position.x = 0.475
pose.pose.position.y = -0.1500
pose.pose.position.z = 1.035
pose.pose.orientation.w = 0.99144
pose.pose.orientation.x = 0
pose.pose.orientation.y = 0
pose.pose.orientation.z = 0.13053
scene.attach_mesh('r_eef', 'right_shoe', pose, roslib.packages.get_pkg_dir('hermes_virtual_robot')+'/common/files/stl/right_shoe.stl',links_off)
rospy.sleep(1)
####################### POSICION ARRIBA ZAPATO ###############################
pose.pose.position.x = 0.4493
pose.pose.position.y = -0.3628
pose.pose.position.z = 1.1937
pose.pose.orientation.w = 0.68058
pose.pose.orientation.x = -0.21466
pose.pose.orientation.y = 0.65539
pose.pose.orientation.z = 0.24739
pose.header.frame_id = robot.get_planning_frame()
pose.header.stamp = rospy.Time.now()
示例3: __init__
# 需要导入模块: from moveit_commander import PlanningSceneInterface [as 别名]
# 或者: from moveit_commander.PlanningSceneInterface import attach_mesh [as 别名]
def __init__(self):
# Initialize the move_group API
moveit_commander.roscpp_initialize(sys.argv)
rospy.init_node('AttachMesh')
# Construct the initial scene object
scene = PlanningSceneInterface()
# Pause for the scene to get ready
rospy.sleep(1)
# Initialize the MoveIt! commander for the right wam and fingers
right_wam = moveit_commander.MoveGroupCommander('right_wam')
right_wam_finger_1 = moveit_commander.MoveGroupCommander('right_wam_finger_1')
right_wam_finger_2 = moveit_commander.MoveGroupCommander('right_wam_finger_2')
right_wam_finger_3 = moveit_commander.MoveGroupCommander('right_wam_finger_3')
# Get the name of the end-effector link
end_effector_link = right_wam.get_end_effector_link()
# Allow some leeway in position (meters) and orientation (radians)
right_wam.set_goal_position_tolerance(0.01)
right_wam.set_goal_orientation_tolerance(0.05)
# Allow replanning to increase the odds of a solution
right_wam.allow_replanning(True)
# Allow 5 seconds per planning attempt
right_wam.set_planning_time(5)
# Remove leftover objects from a previous run
scene.remove_attached_object(end_effector_link, 'spoon')
right_wam.set_named_target('right_wam_start')
right_wam.go()
rospy.sleep(2)
# Closing the hand first
# Closing the hand
right_wam_finger_1.set_named_target("right_wam_finger_1_grasp")
right_wam_finger_2.set_named_target("right_wam_finger_2_grasp")
right_wam_finger_3.set_named_target("right_wam_finger_3_grasp")
right_wam_finger_1.execute(right_wam_finger_1.plan())
rospy.sleep(5)
right_wam_finger_2.execute(right_wam_finger_2.plan())
rospy.sleep(5)
right_wam_finger_3.execute(right_wam_finger_3.plan())
rospy.sleep(5)
# Set the length, width and height of the object to attach
#tool_size = [0.3, 0.02, 0.02]
# Create a pose for the tool relative to the end-effector
p = PoseStamped()
p.header.frame_id = end_effector_link
# Place the end of the object within the grasp of the gripper
p.pose.position.x = 0.0
p.pose.position.y = 0.0
p.pose.position.z = -0.02
# Align the object with the gripper (straight out)
p.pose.orientation.x = -0.5
p.pose.orientation.y = 0.5
p.pose.orientation.z = -0.5
p.pose.orientation.w = 0.5
scene.attach_mesh(end_effector_link, 'spoon', p, '/home/yzheng/catkin_ws/src/manipulation_scenarios/ycb_object_models/models/stl/spoon.stl')
moveit_commander.roscpp_shutdown()
moveit_commander.os._exit(0)