[MoveIt!] How to Use the Python Move Group Interface
I want to use MoveIt! for pathfinding for a simple manipulator arm. The MoveIt! Setup Assistant and Rviz Integration tutorials were very helpful for the first usage of MoveIt! with the manipulator arm.
So far I can calculate paths between predefined poses using the Motion Planning extension. for Rviz
However, I now want to want to define a point in cartesian space. MoveIt! should then calculate a fitting manipulator pose itself and present a possible path from the current pose to the goal if there exists one.
I figured that this should be possible through the Move Group Interface of MoveIt! which I would then like to use with Python. This tutorial coveres this problem, I think. But I have no idea how to implement this for my own robot simulation.
Could someone explain me the steps that need to be done to transfer the tutorial on a different robot?