Can Moveit-Python Interface be used to simulate actions taken by RL agent in Gazebo?

edit

Hi thank you for your reply, by very limited interface what exactly do you refer to?

The python interface is wrapped around c++ methods which use the ROS interfaces to interact with the move_group node. This node exposes a number of services which can be loaded and unloaded using pluginlib which can access the MoveIt C++ API directly. This works really well if you don't care about fast code and you want to do something vanilla such as moving a single robot in freespace. If on the other hand you want to do something more interesting such as moving two arms simultaneously, you will quickly find that the Python API is really limiting and adding new functionality will involve punching through a ton of layers of cruft just to get to the C++ api. For that reason, nearly all the maintainers bypass using the move_group node and the moveit_commander for all projects even slightly complex.

One very limiting factor that you will run into for your project is move group is setup to control one joint group at a time. If your two robot arms have overlapping workspaces and need to be executing motions simultaneously, you will need to do significant customization to ensure that the two arms will not collide. There are a number of projects that do this with MoveIt including bolt. (We have a private fork of Bolt that we've been developing into a product at PickNik).

Thank you so much for the clarification