Move Group Interface/Python API =============================== In MoveIt!, the primary user interface is through the RobotCommander class. It provides functionality for most operations that a user may want to carry out, specifically setting joint or pose goals, creating motion plans, moving the robot, adding objects into the environment and attaching/detaching objects from the robot. .. tutorial-formatter:: ../move_group_python_interface_tutorial.py The entire code ^^^^^^^^^^^^^^^ The entire code can be seen :codedir:`here in the moveit_pr2 github project`. The launch file ^^^^^^^^^^^^^^^ The entire launch file is `here `_ on github. All the code in this tutorial can be run from the pr2_moveit_tutorials package that you have as part of your MoveIt! setup. Running the code ^^^^^^^^^^^^^^^^ Roslaunch the launch file to run the code directly from pr2_moveit_tutorials:: roslaunch pr2_moveit_tutorials move_group_python_interface_tutorial.launch Expected Output ^^^^^^^^^^^^^^^ In Rviz, we should be able to see the following (there will be a delay of 5-10 seconds between each step): 1. The robot moves its left arm to the pose goal in front of it (plan1) 2. The robot again moves its left arm to the same goal (plan1 again) 3. The robot moves its left arm to the joint goal to the side, 4. The robot moves its left arm along the desired cartesian path.