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joint_values.pyで初期姿勢のjointを取得して動作に反映するように修正 #207

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joint_values.pyで初期姿勢のjointを取得して動作に反映するように修正 #207

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9608324
joint_values.pyで、都度自身の姿勢を参照するように変更
KuraZuzu Jul 15, 2025
7bf9009
動作手順をC++のjoint_valuesサンプルと統一
KuraZuzu Jul 15, 2025
64461a5
フォーマットの修正
KuraZuzu Jul 15, 2025
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27 changes: 20 additions & 7 deletions crane_x7_examples_py/crane_x7_examples_py/joint_values.py
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,9 @@ def main(args=None):
)

# 動作速度の調整
arm_plan_request_params.max_acceleration_scaling_factor = 0.5 # Set 0.0 ~ 1.0
arm_plan_request_params.max_acceleration_scaling_factor = (
0.5 # Set 0.0 ~ 1.0
)
arm_plan_request_params.max_velocity_scaling_factor = 0.5 # Set 0.0 ~ 1.0

# SRDFに定義されている'vertical'の姿勢にする
Expand All @@ -69,19 +71,30 @@ def main(args=None):
'crane_x7_lower_arm_fixed_part_joint',
'crane_x7_lower_arm_revolute_part_joint',
'crane_x7_wrist_joint',
]
]
target_joint_value = math.radians(-45.0)

# 各関節角度を順番に-45[deg]ずつ動かす
# 現在角度をベースに、目標角度を作成する
current_state = arm.get_start_state()
joint_values = current_state.get_joint_group_positions('arm')

# jointのリストを辞書型の形式に変換する
joint_values_dict = dict(zip(joint_names, joint_values))

# 各関節角度を順番に-45[deg]に動かす
for joint_name in joint_names:
arm.set_start_state_to_current_state()
# 対象のjointに目標値を設定する
joint_values_dict[joint_name] = target_joint_value
robot_state.joint_positions = joint_values_dict

joint_values = {joint_name: target_joint_value}
robot_state.joint_positions = joint_values
joint_constraint = construct_joint_constraint(
robot_state=robot_state,
joint_model_group=crane_x7.get_robot_model().get_joint_model_group('arm'),
joint_model_group=crane_x7.get_robot_model().get_joint_model_group(
'arm'
),
)

arm.set_start_state_to_current_state()
arm.set_goal_state(motion_plan_constraints=[joint_constraint])

plan_and_execute(
Expand Down