tbd_baxter_tools

License - MIT
Maintainer - zhi.tan@ri.cmu.edu

A collections of python modules/functions useful when working with baxter

List of Modules/Functions

Head

• Head Controller

from tbd_baxter_head.HeadController import HeadController
controller = HeadController()
controller.move_head("-1", rospy.Duration(1))

Motion

• IK solver

from tbd_baxter_tools.motion import solve_IK

joint_angles = solve_IK(arm, pose)

• save/replay arm posture

from tbd_baxter_tools.motion import save_posture, move_to_posture

save_posture(posture_name, button_control=True, arm=None, record_path="posture_records.yaml")
move_to_posture(posture_name, record_path="posture_records.yaml")

Past Contributors

• Joe Connolly - 07/2018