本文整理汇总了Python中moveit_commander.RobotCommander方法的典型用法代码示例。如果您正苦于以下问题:Python moveit_commander.RobotCommander方法的具体用法?Python moveit_commander.RobotCommander怎么用?Python moveit_commander.RobotCommander使用的例子?那么, 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
的用法示例。
在下文中一共展示了moveit_commander.RobotCommander方法的7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: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def __init__(self):
"""
"""
self.ceilheight = 0.75
rospy.sleep(0.4)
moveit_commander.roscpp_initialize(sys.argv)
rospy.sleep(0.4)
self.scene = moveit_commander.PlanningSceneInterface()
self.robot = moveit_commander.RobotCommander()
rospy.sleep(0.1)
self.group = moveit_commander.MoveGroupCommander("right_arm")
self.display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',
moveit_msgs.msg.DisplayTrajectory)
self.planning_scene_diff_publisher = rospy.Publisher("planning_scene", moveit_msgs.msg.PlanningScene,
queue_size=1)
rospy.sleep(0.1)
self.set_default_planner()
print "============ Reference frame: %s" % self.group.get_planning_frame()
print "============ Reference frame: %s" % self.group.get_end_effector_link()
print self.robot.get_group_names()
print self.robot.get_current_state()
self.enable_collision_table1 = True
self.enable_orientation_constraint = False
self.set_default_tables_z()
self.registered_blocks = []
self.tableshape = (0.913, 0.913, 0.01)
# self.tableshape = (1.2, 1.2, 0.01)
rospy.sleep(0.2)
示例2: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def __init__(self, group_name=None):
self.robot = moveit_commander.RobotCommander()
self.scene = moveit_commander.PlanningSceneInterface()
self.groups = {}
self.active_group = None
self.set_group(group_name)
self.reset_publisher = rospy.Publisher('/franka_control/error_recovery/goal', ErrorRecoveryActionGoal, queue_size=1)
示例3: get_robot_state_moveit
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def get_robot_state_moveit():
# moveit_commander.roscpp_initialize(sys.argv)
# robot = moveit_commander.RobotCommander()
try:
current_joint_values = np.array(group.get_current_joint_values())
diff = abs(current_joint_values - home_joint_values)*180/np.pi
if np.sum(diff<1) == 6: # if current joint - home position < 1 degree, we think it is at home
return 1 # robot at home
else:
return 2 # robot is moving
except:
return 3 # robot state unknow
rospy.loginfo("Get robot state failed")
示例4: _init_planning_interface
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def _init_planning_interface(self):
""" Initializes the MoveIn planning interface """
self._robot_comm = moveit_commander.RobotCommander()
self._planning_group = moveit_commander.MoveGroupCommander(self._arm)
self._planning_group.set_pose_reference_frame(ymc.MOVEIT_PLANNING_REFERENCE_FRAME)
示例5: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def __init__(self,
initial_goal,
initial_joint_pos,
sparse_reward=False,
simulated=False,
distance_threshold=0.05,
target_range=0.15,
robot_control_mode='position'):
"""
Push task for the sawyer robot.
:param initial_goal: np.array()
the initial goal of pnp task,
which is object's target position
:param initial_joint_pos: dict{string: float}
initial joint position
:param sparse_reward: Bool
if use sparse reward
:param simulated: Bool
if use simulator
:param distance_threshold: float
threshold for judging if the episode is done
:param target_range: float
the range within which the new target is randomized
:param robot_control_mode: string
control mode 'position'/'velocity'/'effort'
"""
Serializable.quick_init(self, locals())
self._distance_threshold = distance_threshold
self._target_range = target_range
self._sparse_reward = sparse_reward
self.initial_goal = initial_goal
self.goal = self.initial_goal.copy()
self.simulated = simulated
# Initialize moveit to get safety check
self._moveit_robot = moveit_commander.RobotCommander()
self._moveit_scene = moveit_commander.PlanningSceneInterface()
self._moveit_group_name = 'right_arm'
self._moveit_group = moveit_commander.MoveGroupCommander(
self._moveit_group_name)
self._robot = Sawyer(
initial_joint_pos=initial_joint_pos,
control_mode=robot_control_mode,
moveit_group=self._moveit_group_name)
self._world = BlockWorld(self._moveit_scene,
self._moveit_robot.get_planning_frame(),
simulated)
SawyerEnv.__init__(self, simulated=simulated)
示例6: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def __init__(self,
initial_goal,
initial_joint_pos,
sparse_reward=True,
simulated=False,
distance_threshold=0.05,
target_range=0.15,
robot_control_mode='position'):
"""
Pick-and-place task for the sawyer robot.
:param initial_goal: np.array()
the initial goal of pnp task,
which is object's target position
:param initial_joint_pos: dict{string: float}
initial joint position
:param sparse_reward: Bool
if use sparse reward
:param simulated: Bool
if use simulator
:param distance_threshold: float
threshold for judging if the episode is done
:param target_range: float
the range within which the new target is randomized
:param robot_control_mode: string
control mode 'position'/'velocity'/'effort'
"""
Serializable.quick_init(self, locals())
self._distance_threshold = distance_threshold
self._target_range = target_range
self._sparse_reward = sparse_reward
self.initial_goal = initial_goal
self.goal = self.initial_goal.copy()
self.simulated = simulated
# Initialize moveit to get safety check
self._moveit_robot = moveit_commander.RobotCommander()
self._moveit_scene = moveit_commander.PlanningSceneInterface()
self._moveit_group_name = 'right_arm'
self._moveit_group = moveit_commander.MoveGroupCommander(
self._moveit_group_name)
self._robot = Sawyer(
initial_joint_pos=initial_joint_pos,
control_mode=robot_control_mode,
moveit_group=self._moveit_group_name)
self._world = BlockWorld(self._moveit_scene,
self._moveit_robot.get_planning_frame(),
simulated)
SawyerEnv.__init__(self, simulated=simulated)
示例7: __init__
# 需要导入模块: import moveit_commander [as 别名]
# 或者: from moveit_commander import RobotCommander [as 别名]
def __init__(self,
initial_goal,
initial_joint_pos,
sparse_reward=False,
simulated=False,
distance_threshold=0.05,
target_range=0.15,
robot_control_mode='position'):
"""
Reacher Environment.
:param initial_goal: np.array
the initial goal for the task
:param initial_joint_pos: dict
the initial joint angles for the sawyer
:param sparse_reward: Bool
if use sparse reward
:param simulated: Bool
if run simulated experiment
:param distance_threshold: float
threshold for whether experiment is done
:param target_range: float
delta range the goal is randomized
:param robot_control_mode: string
robot control mode: 'position' or 'velocity'
or 'effort'
"""
Serializable.quick_init(self, locals())
self._distance_threshold = distance_threshold
self._target_range = target_range
self._sparse_reward = sparse_reward
self.initial_goal = initial_goal
self.goal = self.initial_goal.copy()
self.simulated = simulated
# Initialize moveit to get safety check
self._moveit_robot = moveit_commander.RobotCommander()
self._moveit_scene = moveit_commander.PlanningSceneInterface()
self._moveit_group_name = 'right_arm'
self._moveit_group = moveit_commander.MoveGroupCommander(
self._moveit_group_name)
self._robot = Sawyer(
initial_joint_pos=initial_joint_pos,
control_mode=robot_control_mode,
moveit_group=self._moveit_group_name)
self._world = EmptyWorld(self._moveit_scene,
self._moveit_robot.get_planning_frame(),
simulated)
SawyerEnv.__init__(self, simulated=simulated)