How to convert joint values to cartesian values without using set_joint_value_target?

asked 2022-01-27 06:48:04 -0500

Muratbek gravatar image

I am having a problem with JointTrajectory. I have 6 dof robot. And I want to get planned path in Pose format. I am using Moveit with Python

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Hi @Muratbek, can you further explain what would you like to do? The trajectory is an optimized path. Not sure how set_joint_value_target comes into place. Perhaps I am misunderstanding the question but why don't you use get_pose() from MoveGroup at any given point in the trajectory?

osilva gravatar image osilva  ( 2022-01-31 07:14:40 -0500 )edit

Hi, @osilva. When I plan to pose target, I receive plan with joint trajectory in it. So, to use it in real robot, I want to obtain more information about planned path. I want to obtain cartesian coordinates for each point in the path.

Muratbek gravatar image Muratbek  ( 2022-01-31 07:20:15 -0500 )edit
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