本文整理匯總了Python中moveit_commander.RobotCommander.get_root_link方法的典型用法代碼示例。如果您正苦於以下問題：Python RobotCommander.get_root_link方法的具體用法？Python RobotCommander.get_root_link怎麽用？Python RobotCommander.get_root_link使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類moveit_commander.RobotCommander的用法示例。
在下文中一共展示了RobotCommander.get_root_link方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: MoveGroupCommandInterpreter
# 需要導入模塊: from moveit_commander import RobotCommander [as 別名]
# 或者: from moveit_commander.RobotCommander import get_root_link [as 別名]
#.........這裏部分代碼省略.........
return (MoveGroupInfoLevel.DEBUG, "OK")
if cmd == "id":
return (MoveGroupInfoLevel.INFO, g.get_name())
if cmd == "help":
return (MoveGroupInfoLevel.INFO, self.get_help())
if cmd == "vars":
known = g.get_remembered_joint_values()
return (MoveGroupInfoLevel.INFO, "[" + " ".join(known.keys()) + "]")
if cmd == "joints":
joints = g.get_joints()
return (MoveGroupInfoLevel.INFO, "\n" + "\n".join([str(i) + " = " + joints[i] for i in range(len(joints))]) + "\n")
if cmd == "show":
return self.command_show(g)
if cmd == "current":
return self.command_current(g)
if cmd == "ground":
pose = PoseStamped()
pose.pose.position.x = 0
pose.pose.position.y = 0
# offset such that the box is 0.1 mm below ground (to prevent collision with the robot itself)
pose.pose.position.z = -0.0501
pose.pose.orientation.x = 0
pose.pose.orientation.y = 0
pose.pose.orientation.z = 0
pose.pose.orientation.w = 1
pose.header.stamp = rospy.get_rostime()
pose.header.frame_id = self._robot.get_root_link()
self._planning_scene_interface.attach_box(self._robot.get_root_link(), "ground", pose, (3, 3, 0.1))
return (MoveGroupInfoLevel.INFO, "Added ground")
if cmd == "eef":
if len(g.get_end_effector_link()) > 0:
return (MoveGroupInfoLevel.INFO, g.get_end_effector_link())
else:
return (MoveGroupInfoLevel.INFO, "There is no end effector defined")
if cmd == "database":
if self._db_host == None:
return (MoveGroupInfoLevel.INFO, "Not connected to a database")
else:
return (MoveGroupInfoLevel.INFO, "Connected to " + self._db_host + ":" + str(self._db_port))
if cmd == "plan":
if self._last_plan != None:
return (MoveGroupInfoLevel.INFO, str(self._last_plan))
else:
return (MoveGroupInfoLevel.INFO, "No previous plan")
if cmd == "constrain":
g.clear_path_constraints()
return (MoveGroupInfoLevel.SUCCESS, "Cleared path constraints")
if cmd == "tol" or cmd == "tolerance":
return (MoveGroupInfoLevel.INFO, "Joint = %0.6g, Position = %0.6g, Orientation = %0.6g" % g.get_goal_tolerance())
if cmd == "time":
return (MoveGroupInfoLevel.INFO, str(g.get_planning_time()))
if cmd == "execute":
if self._last_plan != None: