Setup

Download interbotix_xsarm_movit folders/files from interbotix_ros_manipulators. Compile with catkin_make and set the source.

Running

In one terminal window:

roslaunch interbotix_xsarm_moveit xsarm_moveit.launch robot_model:=vx300s use_actual:=true dof:=6

In another terminal window:

python3 mover.py

To rotate the gripper:

eve.rotate_gripper(pi/2)

To take a Cartesian step:

eve.step([[0, 1, 0], [0, -2, 0], [0, 2, 0]])

This is currently not working that well.