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Add English annotation

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wangWking 2022-03-14 15:04:19 +08:00
parent 3a736bda49
commit 4dcf049350
1 changed files with 6 additions and 3 deletions
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mypalletizer_260_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
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@ -30,14 +30,17 @@ class MoveItPlanningDemo:
# Get the name of the terminal link. 获取终端link的名称
self.end_effector_link = self.arm.get_end_effector_link()
# Set the reference coordinate system used for the target position. 设置目标位置所使用的参考坐标系
# Set the reference coordinate system used for the target position.
# 设置目标位置所使用的参考坐标系
self.reference_frame = "joint1"
self.arm.set_pose_reference_frame(self.reference_frame)
# Allow replanning when motion planning fails. 当运动规划失败后，允许重新规划
# Allow replanning when motion planning fails.
# 当运动规划失败后，允许重新规划
self.arm.allow_replanning(True)
# Set the allowable error of position (unit: meter) and attitude (unit: radian). 设置位置(单位：米)和姿态（单位：弧度）的允许误差
# Set the allowable error of position (unit: meter) and attitude (unit: radian).
# 设置位置(单位：米)和姿态（单位：弧度）的允许误差
self.arm.set_goal_position_tolerance(0.01)
self.arm.set_goal_orientation_tolerance(0.05)