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moveit / moveit2

:robot: MoveIt for ROS 2
https://moveit.ai/
BSD 3-Clause "New" or "Revised" License
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Cartesian Path Planning in Python API #2401

Open BBlumhofer opened 1 year ago

BBlumhofer commented 1 year ago

Is your feature request related to a problem? Please describe. The current Python API of Moveit2 does not support Cartesian Path planning. To use moveit solely ia python this would be very important

Describe the solution you'd like Similar to the move_group_Interface a function to compute the cartesian path

github-actions[bot] commented 11 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

github-actions[bot] commented 9 months ago

This issue was closed because it has been stalled for 45 days with no activity.

dsandber commented 9 months ago

@BBlumhofer Did you make any headway with this? Do I understand correctly that the Python API is available in ROS1/MoveIt1 but not in ROS2/MoveIt2? Is it just the thin Python wrapper around the C code that is missing?

dsandber commented 9 months ago

I haven't seen it confirmed, but I believe the Python API for the Pilz industrial stuff (now in MoveIt) is missing from ROS2, which is forcing me to stay on ROS1. This ticket suggests some kind of workaround:

https://github.com/ros-planning/moveit2/pull/2463

Do I understand correctly that in ROS2 the Python code is mainly thin wrappers that call the underlying C libraries?