Python tools to ease usage of MoveIt! with any robot.
It contains classes to use easier/faster MoveIt! modules and command line tools to use them too.
tf_for_me.py: Give it a [pose/point/quaternion] and a from_frame and a to_frame and it will transform it for you.pr2_get_ik.py: Give it a pose and it will get the IK for you.pr2_get_ik_and_go.py: Give it a pose and it will get an IK and move the arm there.go_to_joint_cfg.py: Give it a list of joint_names and a list of positions and it will move the arm there.
- TF:
from moveit_python_tools.transformer import Transformer
tfer = Transformer()
# You can transform from any of:
# PoseStamped, Pose, PointStamped, Point,
# QuaternionStamped, Quaternion,
# Vector3 (with type_data: xyz, rpydeg, rpyrad),
# list or tuple (with type_data: xyz, rpydeg, rpyrad, quat)
print tfer.transform(thing)- IK:
from moveit_python_tools.get_ik import GetIK
from geometry_msgs.msg import PoseStamped
gik = GetIK("left_arm")
ps = PoseStamped()
ps.header.frame_id = 'l_wrist__roll_link'
ps.pose.position.x = 0.1
ps.pose.orientation.w = 1.0
print gik.get_ik(ps)- Configuration execution:
from moveit_python_tools.go_to_configuration import GoToConfiguration
gtc = GoToConfiguration()
joint_names = ['head_pan_joint', 'head_tilt_joint']
positions = [0.0, 0.5]
print gtc.go_to_configuration(joint_names, positions)