Python IK

[cadop]

Hi Sven,

I have just received a youbot for the lab. I had seen on 1 a 'simple_ik_solver.py' file to run. I can not find it through the github. Essentially I was looking for how to control the arm in python with ros, as a compliment to the method for keyboard control base sample (youbot_keyboard_teleop.py) that comes with the youbot ros package 2

Could you point me to the file or would this combination not work out?

Thanks,

Mat

[svenschneider]

Hi Mat,

the site on the youbot-store is totally outdated. The 'simple_ik_solver.py' was available until ROS Groovy [1], but the ROS interfaces have changed since then and the script won't work anymore.

Maybe the MoveIt! Commander is worth a look for you, as it offers a command line interpreter but also Python interfaces for simple access to MoveIt!. Unfortunately, most of the documentation for this tool seems to be unavailable. The following sites may give some hints, though: [2][3][4].

Best regards
Sven

[1] https://github.com/svenschneider/youbot-manipulation/blob/groovy/youbot_manipulation_examples/ros/scripts/simple_ik_solver.py
[2] http://moveit.ros.org/documentation/concepts/
[3] http://moveit.ros.org/documentation/tutorials/
[4] http://moveit.ros.org/code-api/