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I usually look at the API on Github for MoveIt commander here. You will most likely be wanting move_group.py for planning.

Here is a MoveIt tutorial for Baxter research robot. Here is one for UR5.

As for connecting to hardware, you usually just pass the trajectory to your controller. Depending on your robot, there may already exist motor drivers for it (i.e., Dynamixel motors).

I usually look at the API on Github for MoveIt commander here. You will most likely be wanting move_group.py for planning.

As for importing your robot files in the python script, you will already have move_group.launch running from the package created by MoveIt setup assistant.

Here is a MoveIt tutorial for Baxter research robot. Here is one for UR5.

As for connecting to hardware, you usually just pass the trajectory to your controller. Depending on your robot, there may already exist motor drivers for it (i.e., Dynamixel motors). motors).

I usually look at the API on Github for MoveIt commander here. You will most likely be wanting move_group.py for planning.

As for importing your robot files in the python script, you will already have move_group.launch running from the package created by MoveIt setup assistant. Then you load a planning group from the SRDF, which was launched from move_group.launch.

Here is a MoveIt tutorial for Baxter research robot. Here is one for UR5.

As for connecting to hardware, you usually just pass the trajectory to your controller. Depending on your robot, there may already exist motor drivers for it (i.e., Dynamixel motors).