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fix move it

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Xuwznln
2025-06-10 01:53:58 +08:00
parent d8a0c5e715
commit 4c7aa8a89a
1 changed files with 11 additions and 3 deletions
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14
unilabos/devices/ros_dev/moveit_interface.py
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@@ -292,9 +292,17 @@ class MoveitInterface:
) )
end_pose = deep_pose end_pose = deep_pose
retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik( retval_ik = None
position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints) retry = config.get("retry", 10)
) while retval_ik is None and retry > 0:
retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
)
time.sleep(0.1)
retry -= 1
if retval_ik is None:
result.success = False
return result
position_ = [ position_ = [
retval_ik.position[retval_ik.name.index(i)] retval_ik.position[retval_ik.name.index(i)]
for i in self.moveit2[cmd_dict["move_group"]].joint_names for i in self.moveit2[cmd_dict["move_group"]].joint_names