source install/local_setup.bash

# RViz (fake) ROS 2 control
ros2 launch panda_moveit_config ex_fake_control.launch.py
# Gazebo (simulated) ROS 2 control
ros2 launch panda_moveit_config ex_ign_control.launch.py

# Move to joint configuration
ros2 run pymoveit2 ex_joint_goal.py --ros-args -p joint_positions:="[1.57, -1.57, 0.0, -1.57, 0.0, 1.57, 0.7854]"
# Move to Cartesian pose (motion in either joint or Cartesian space)
ros2 run pymoveit2 ex_pose_goal.py --ros-args -p position:="[0.25, 0.0, 1.0]" -p quat_xyzw:="[0.0, 0.0, 0.0, 1.0]" -p cartesian:=False
# Repeatadly toggle the gripper (or use "open"/"close" actions)
ros2 run pymoveit2 ex_gripper.py --ros-args -p action:="toggle"
# Example of using MoveIt 2 Servo to move the end-effector in a circular motion
ros2 run pymoveit2 ex_servo.py
# Example of adding a collision object to the planning scene of MoveIt 2
ros2 run pymoveit2 ex_collision_object.py --ros-args -p action:="add" -p position:="[0.5, 0.0, 0.5]" -p quat_xyzw:="[0.0, 0.0, -0.707, 0.707]"

.
├── examples/              # [dir] Examples demonstrating the use of `pymoveit2`
├── pymoveit2/             # [dir] ROS 2 launch scripts
    ├── robots/            # [dir] Presets for robots (data that can be extracted from URDF/SRDF)
    ├── gripper_command.py # Interface for Gripper that is controlled by GripperCommand
    ├── moveit2_gripper.py # Interface for MoveIt 2 Gripper that is controlled by JointTrajectoryController
    ├── moveit2_servo.py   # Interface for MoveIt 2 Servo that enables real-time control in Cartesian Space
    └── moveit2.py         # Interface for MoveIt 2 that enables planning and execution of trajectories
├── CMakeLists.txt         # Colcon-enabled CMake recipe
└── package.xml            # ROS 2 package metadata