move_group.py 文件源码

def set_pose_targets(self, poses, end_effector_link = ""):
        """ Set the pose of the end-effector, if one is available. The expected input is a list of poses. Each pose can be a Pose message, a list of 6 floats: [x, y, z, rot_x, rot_y, rot_z] or a list of 7 floats [x, y, z, qx, qy, qz, qw] """
        if len(end_effector_link) > 0 or self.has_end_effector_link():
            if not self._g.set_pose_targets([conversions.pose_to_list(p) if type(p) is Pose else p for p in poses], end_effector_link):
                raise MoveItCommanderException("Unable to set target poses")
        else:
            raise MoveItCommanderException("There is no end effector to set poses for")