MoveGroupCommander.set_path_constraints同时设置两个位置约束和两个姿态约束、三个关节约束
时间: 2024-03-01 14:49:41 浏览: 16
可以使用以下代码同时设置两个位置约束、两个姿态约束和三个关节约束:
```python
from moveit_msgs.msg import Constraints, PositionConstraint, OrientationConstraint, JointConstraint
# 设置位置约束1
pc1 = PositionConstraint()
pc1.header.frame_id = "base_link"
pc1.link_name = "end_effector_link"
pc1.constraint_region.primitive_poses.append(pose1) # pose1为第一个位置的位姿
pc1.weight = 1.0
# 设置位置约束2
pc2 = PositionConstraint()
pc2.header.frame_id = "base_link"
pc2.link_name = "end_effector_link"
pc2.constraint_region.primitive_poses.append(pose2) # pose2为第二个位置的位姿
pc2.weight = 1.0
# 设置姿态约束1
oc1 = OrientationConstraint()
oc1.header.frame_id = "base_link"
oc1.link_name = "end_effector_link"
oc1.orientation = quat1 # quat1为第一个姿态的四元数表示
oc1.absolute_x_axis_tolerance = 0.1
oc1.absolute_y_axis_tolerance = 0.1
oc1.absolute_z_axis_tolerance = 0.1
oc1.weight = 1.0
# 设置姿态约束2
oc2 = OrientationConstraint()
oc2.header.frame_id = "base_link"
oc2.link_name = "end_effector_link"
oc2.orientation = quat2 # quat2为第二个姿态的四元数表示
oc2.absolute_x_axis_tolerance = 0.1
oc2.absolute_y_axis_tolerance = 0.1
oc2.absolute_z_axis_tolerance = 0.1
oc2.weight = 1.0
# 设置关节约束1
jc1 = JointConstraint()
jc1.joint_name = "joint1"
jc1.position = 0.5
jc1.tolerance_above = 0.1
jc1.tolerance_below = 0.1
jc1.weight = 1.0
# 设置关节约束2
jc2 = JointConstraint()
jc2.joint_name = "joint2"
jc2.position = 1.0
jc2.tolerance_above = 0.1
jc2.tolerance_below = 0.1
jc2.weight = 1.0
# 设置关节约束3
jc3 = JointConstraint()
jc3.joint_name = "joint3"
jc3.position = -0.5
jc3.tolerance_above = 0.1
jc3.tolerance_below = 0.1
jc3.weight = 1.0
# 组合所有约束
path_constraints = Constraints()
path_constraints.position_constraints.append(pc1)
path_constraints.position_constraints.append(pc2)
path_constraints.orientation_constraints.append(oc1)
path_constraints.orientation_constraints.append(oc2)
path_constraints.joint_constraints.append(jc1)
path_constraints.joint_constraints.append(jc2)
path_constraints.joint_constraints.append(jc3)
# 设置MoveGroupCommander的路径约束
move_group.set_path_constraints(path_constraints)
```