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Update moveit_interface.py

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zhangshixiang
2025-06-09 05:05:38 +08:00
parent 47dc2791bb
commit baeb1df8be
1 changed files with 9 additions and 2 deletions
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11
unilabos/devices/ros_dev/moveit_interface.py
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@@ -239,8 +239,15 @@ class MoveitInterface:
) )
if "lift_height" in cmd_dict.keys(): if "lift_height" in cmd_dict.keys():
retval = None
retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_) retry = config.get("retry", 10)
while retval is None and retry > 0:
retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
time.sleep(0.1)
retry -= 1
if retval is None:
result.success = False
return result
pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z] pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
quaternion = [ quaternion = [
retval.pose.orientation.x, retval.pose.orientation.x,