本文整理匯總了Python中moveit_commander.PlanningSceneInterface方法的典型用法代碼示例。如果您正苦於以下問題：Python moveit_commander.PlanningSceneInterface方法的具體用法？Python moveit_commander.PlanningSceneInterface怎麽用？Python moveit_commander.PlanningSceneInterface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的用法示例。
在下文中一共展示了moveit_commander.PlanningSceneInterface方法的5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: __init__
# 需要導入模塊: import moveit_commander [as 別名]
# 或者: from moveit_commander import PlanningSceneInterface [as 別名]
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__
# 需要導入模塊: import moveit_commander [as 別名]
# 或者: from moveit_commander import PlanningSceneInterface [as 別名]
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: __init__
# 需要導入模塊: import moveit_commander [as 別名]
# 或者: from moveit_commander import PlanningSceneInterface [as 別名]
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4: __init__
# 需要導入模塊: import moveit_commander [as 別名]
# 或者: from moveit_commander import PlanningSceneInterface [as 別名]
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5: __init__
# 需要導入模塊: import moveit_commander [as 別名]
# 或者: from moveit_commander import PlanningSceneInterface [as 別名]
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)