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Saving moveit poses

asked 2019-08-01 06:01:51 -0500

Eisenhorn gravatar image


The moveit assistant creates a .srdf file containing group states for certain move groups.

Is there an API call or way to store poses during runtime and have them available in the MoveGroupCommander, and also added to the srdf file?


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answered 2020-03-02 06:36:29 -0500

fvd gravatar image

The SRDF cannot be changed at runtime by the move_group to my knowledge (only the setup assistant changes it), but there is the rememberJointValues method in the MoveGroupInterface. Those saved values are not persistent, but you could save/load them to/from a YAML file yourself.

I believe you can also store poses in a database and save/load those ("warehouse"). I am not familiar with the functionality, I just know it exists.

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Asked: 2019-08-01 06:01:51 -0500

Seen: 227 times

Last updated: Mar 02 '20