MoveIt! Task Constructor pipeline for other robotic arms

[himanshuk32]

The existing moveit_task_constructor is stable and working properly with panda arm. But, there's no straightforward way to use the same with other robotic arms like Universal Robot or ABB robots. Is there any idea on how to do that? It would be of great help if someone could post a documentation or reference links for the same.

Thank you.

[rhaschke]

You just need to use your robot-specific moveit_config and adapt group and link names. Did you actually try? Which kind of problems did you observe? Actually, there are several examples in core/test, e.g. for PA10, UR5, PR2.

[jssaditi]

Hello, I have been having the same issue. I am trying to follow this pick and place example for a panda arm and want to adapt it to use a ur3e manipulator instead. I don't really know what all I need to change as the structure of the launch files in the example (mtc_demo and pick_place_demo) are very different to the one of the ur_moveit_config I think.