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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
149 stars 70 forks source link

[exotica_python] Add MoveIt Scene to SDF converter #690

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

@rshi159 This is the basic MoveIt Scene to SDF conversion script. It currently only has box support - please take it from here and expand it / clean it up as required and make a PR :-)

cc: FYI @mfinean

VladimirIvan commented 4 years ago

It's not that I'm a huge fan of PyKDL but what is reasoning behind including transformations.py?

wxmerkt commented 4 years ago

This is code from ~2 years ago meant as a starter to evolve from (it only supports boxes so far). I agree we have pyexotica and PyKDL transformation packages and this should be replaced. This is to bootstrap the work @rshi159 is doing :-).