I am trying to run abb YuMi from Moveit in ROS Melodic.

I understood that I can set the position and posture of each arm arbitrarily and move them simultaneously by setting the group to both arms with the MoveGroupCommander and using the set_pose_target function with pose and link as arguments. We also understood that we can set waypoints with the compute_cartesian_path function and create a Robot Trajectory type plan to plan the motion.

However, I do not know how to set the waypoints of each arm in the compute_cartesian_path function, plan the movements of each arm, and then move both arms simultaneously. I am having trouble with this.

I am not familiar with ROS, so sorry if my question is off the mark.